classic_ladder.lyx

CNC 的开放码,EMC2 V2.2.8版

#LyX 1.3 created this file. For more info see http://www.lyx.org/
\lyxformat 221
\textclass book
\begin_preamble
\usepackage[plainpages=false,pdfpagelabels,colorlinks=true,linkcolor=blue]{hyperref}
\end_preamble
\language english
\inputencoding default
\fontscheme bookman
\graphics default
\float_placement !htbp
\paperfontsize default
\spacing single 
\papersize letterpaper
\paperpackage a4
\use_geometry 1
\use_amsmath 1
\use_natbib 0
\use_numerical_citations 0
\paperorientation portrait
\leftmargin 1in
\topmargin 1in
\rightmargin 0.8in
\bottommargin 0.8in
\secnumdepth 3
\tocdepth 5
\paragraph_separation skip
\defskip smallskip
\quotes_language english
\quotes_times 2
\papercolumns 1
\papersides 1
\paperpagestyle default

\layout Chapter

ClassicLadder 
\layout Section

Introduction
\layout Standard

ClassicLadder
\begin_inset LatexCommand \index{ClassicLadder}

\end_inset 

 is a free implementation of a ladder interpreter, released under the LGPL.
 It has been written by Marc Le Douarain.
 
\layout Standard

He describes the beginning of the project on his website: 
\layout Quotation


\begin_inset Quotes eld
\end_inset 

I decided to program a ladder language only for test purposes at the start,
 in february 2001.
 It was planned, that I would have to participate to a new product after
 leaving the enterprise in which I was working at that time.
 And I was thinking that to have a ladder language in thoses products could
 be a nice option to considerate.
 And so I started to code the first lines for calculating a rung with minimal
 elements and displaying dynamically it under Gtk, to see if my first idea
 to realise all this works.
\layout Quotation

And as quickly I've found that it advanced quite well, I've continued with
 more complex elements : timer, multiples rungs, etc...
\layout Quotation

Voila, here is this work...
 and more : I've continued to add features since then.
\begin_inset Quotes erd
\end_inset 


\layout Standard

ClassicLadder has been adapted to work with emc2's HAL, and is currently
 beeing distributed along with emc2.
 If there are issues/problems/bugs please report them to the Enhanced Machine
 Controller project.
\layout Section

Languages
\layout Standard

The most common language used when working with ClassicLadder is 'ladder'.
 ClassicLadder allows one to use other variants (like sequential function
 chart - Grafcet) too, however those aren't covered by the current documentation.
\layout Standard

In the next chapters the main components of ClassicLadder will be described.
\layout Section

Components
\layout Standard

There are 2 components to ClassicLadder.
 
\layout Itemize

The realtime module = classicladder_rt
\layout Itemize

The userspace module (along with a GUI) = classicladder
\layout Subsection

Files
\layout Standard

Typically classicladder components are placed in the custom.hal file if your
 working from a Stepconf generated configuration.
 These must not be placed in the custom_postgui.hal file or the Ladder Editor
 menu will be grayed out.
 
\layout Standard

Ladder files (.clp) must not contain any blank spaces in the name.
\layout Subsection

Realtime Module
\layout Standard

Loading the ClassicLadder realtime module (classicladder_rt) is possible
 from a halfile, or directly using a halcmd instruction.
 The first line loads real time the ClassicLadder module.
 The second line adds the function classicladder.0.refresh to the servo thread.
 This makes ClassicLadder update at the servo thread rate.
 
\layout LyX-Code

loadrt classicladder_rt 
\layout LyX-Code

addf classicladder.0.refresh servo-thread 
\layout Standard

The speed of the thread that ClassicLadder is running in directly effects
 the responsiveness to inputs and outputs.
 If you can turn a switch on and off faster than ClassicLadder can notice
 it then you may need to speed up the thread.
 The fastest that ClassicLadder can refresh the rungs is one millisecond.
 You can put it in a faster thread but it will not update any faster.
 If you put it in a slower then one microsecond thread then ClassicLadder
 will update the rungs slower.
 The current refresh rate will be displayed on the section display, it is
 rounded to microseconds.
\layout Subsection

Variables
\layout Standard

It is possible to configure the number of each type of ladder object while
 loading the classicladder realtime module.
 If you do not configure the number of ladder objects ClassicLadder will
 use the default values.
\layout Standard


\begin_inset Float table
wide false
collapsed false

\layout Caption

ClassicLadder realtime component options
\layout Standard
\align center 

\begin_inset  Tabular
<lyxtabular version="3" rows="14" columns="3">
<features>
<column alignment="left" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" width="0">
<column alignment="center" valignment="top" leftline="true" rightline="true" width="0">
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Object name:
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

variable name:
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

Default value:
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of rungs
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numRungs)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

100
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of bits
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numBits)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

500
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of word variables
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numWords)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

100
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of timers
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numTimers)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

10
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of monostables
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numMonostables)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

10
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of counters
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numCounters)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

10
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of hal inputs bit pins
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numPhysInputs)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

50
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of hal output bit pins
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numPhysOuputs)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

50
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of arithmetic expressions
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numArithmExpr)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

50
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of sections
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numSections)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

10
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of symbols
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numSymbols)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

100
\end_inset 
</cell>
</row>
<row topline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of S32 inputs
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numS32in)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

0
\end_inset 
</cell>
</row>
<row topline="true" bottomline="true">
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

Number of S32 outputs
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
\begin_inset Text

\layout Standard

(numS32out)
\end_inset 
</cell>
<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
\begin_inset Text

\layout Standard

0
\end_inset 
</cell>
</row>
</lyxtabular>

\end_inset 


\end_inset 


\layout Standard

If you do not configure the number of ladder objects classicladder will
 use the default values.
 Objects of most interest are numPhysInputs and numPhysOutputs.
\layout Standard

Changing these numbers will change the number of HAL bit pins available.
\layout Standard

For example: 
\layout LyX-Code

loadrt classicladder_rt numRungs=12 numBits=100 numWords=10 numTimers=10
 
\newline 
numMonostables=10 numCounters=10 numPhysInputs=10 numPhysOutputs=10 
\newline 
numArithmExpr=100 numSections=4 numSymbols=200
\layout Subsection

Loading the ClassicLadder user module
\layout Standard

To load the user module:
\layout Quote

loadusr classicladder
\layout Standard

To load a ladder file (filename must not have any spaces):
\layout Quote

loadusr classicladder myladder.clp
\layout Standard

To load the user module without the GUI:
\layout Quote

loadusr classicladder --nogui
\layout Standard

To load the user module with the modbus port number for modbus server over
 ethernet: 
\layout Quote

loadusr classicladder --modbus_port=port
\layout Standard

To load the user module with a config file:
\layout Quote

loadusr classicladder --config=file
\layout Standard

Sets up the ClassicLadder for modbus master over serial or ethernet.
\layout Quote

loadusr classicladder --config=my modbusfile --nogui myladder.clp
\layout Standard

Use the GUI when setting up your system then change it to --nogui when running.
 The only other thing you can do while loading the user module is specify
 a ladder program to load.
 ladder programs are specified by the .clp ending.
 
\layout Standard

\layout Section

ClassicLadder GUI
\layout Standard


\begin_inset Note
collapsed false

\layout Standard

This section needs to be updated
\end_inset 


\layout Standard

If you load classicladder with the GUI it will display three windows: vars,