ladder_examples.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/
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\layout Section

Ladder Examples
\layout Subsection

External E-Stop
\layout Standard

The External E-Stop example is in the /config/classicladder/cl-estop folder.
 It uses a pyVCP panel to simulate the external components.
 
\layout Standard

To interface an external E-Stop to EMC and have the external E-Stop work
 together with the internal E-Stop requires a couple of connections through
 ClassicLadder.
 
\layout Standard

First we have to open the E-Stop loop in the main hal file by commenting
 out by adding the pound sign as shown or removing the following lines.
\layout LyX-Code

# net estop-out <= iocontrol.0.user-enable-out
\layout LyX-Code

# net estop-out => iocontrol.0.emc-enable-in
\layout Standard

Next we add ClassicLadder to our main .hal file by adding these two lines:
 
\layout LyX-Code

loadrt classicladder_rt
\layout LyX-Code

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

ClassicLadder must be loaded in the main .hal file or the menu selection
 will be grayed out.
 
\layout Standard

Next we run our config and build the ladder as shown here.
\layout Standard


\begin_inset Float figure
placement H
wide false
collapsed false

\layout Caption

E-Stop Section Display
\layout Standard
\align center 

\begin_inset Graphics
	filename images/EStop_Section_Display.png
	scale 70

\end_inset 


\end_inset 


\layout Standard

After building the ladder select Save As and save the ladder as estop.clp
\layout Standard

Now add the following line to your main .hal file.
\layout LyX-Code

# Load the ladder
\layout LyX-Code

loadusr classicladder --nogui estop.clp
\layout Standard

I/O assignments
\layout Itemize

%I0 = Input from the pyVCP panel simulated E-Stop (the checkbox)
\layout Itemize

%I1 = Input from EMC's E-Stop
\layout Itemize

%I2 = Input from EMC's E-Stop Reset Pulse
\layout Itemize

%I3 = Input from the pyVCP panel reset button
\layout Itemize

%Q0 = Ouput to EMC to enable
\layout Itemize

%Q1 = Output to external driver board enable pin (use a N/C output if your
 board had a disable pin)
\layout Standard

Next we add the following lines to the custom_postgui.hal file.
\layout LyX-Code

# E-Stop example using pyVCP buttons to simulate external components
\layout LyX-Code

\layout LyX-Code

# The pyVCP checkbutton simulates a normally closed external E-Stop
\layout LyX-Code

net ext-estop classicladder.0.in-00 <= pyvcp.py-estop
\layout LyX-Code

\layout LyX-Code

# Request E-Stop Enable from EMC
\layout LyX-Code

net estop-all-ok iocontrol.0.emc-enable-in <= classicladder.0.out-00
\layout LyX-Code

\layout LyX-Code

# Request E-Stop Enable from pyVCP or external source
\layout LyX-Code

net ext-estop-reset classicladder.0.in-03 <= pyvcp.py-reset
\layout LyX-Code

\layout LyX-Code

# This line resets the E-Stop from EMC
\layout LyX-Code

net emc-reset-estop iocontrol.0.user-request-enable => classicladder.0.in-02
\layout LyX-Code

\layout LyX-Code

# This line enables EMC to unlatch the E-Stop in classicladder
\layout LyX-Code

net emc-estop iocontrol.0.user-enable-out => classicladder.0.in-01
\layout LyX-Code

\layout LyX-Code

# This line turns on the green indicator when out of E-Stop
\layout LyX-Code

net estop-all-ok => pyvcp.py-es-status
\layout Standard

Next we add the following lines to the panel.xml file.
 Note you have to open it with the text editor not the default html viewer.
\layout LyX-Code

<pyvcp>
\layout LyX-Code

<vbox>
\layout LyX-Code

<label><text>"E-Stop Demo"</text></label>
\layout LyX-Code

<led>
\layout LyX-Code

<halpin>"py-es-status"</halpin>
\layout LyX-Code

<size>50</size>
\layout LyX-Code

<on_color>"green"</on_color>
\layout LyX-Code

<off_color>"red"</off_color>
\layout LyX-Code

</led>
\layout LyX-Code

<checkbutton>
\layout LyX-Code

<halpin>"py-estop"</halpin>
\layout LyX-Code

<text>"E-Stop"</text>
\layout LyX-Code

</checkbutton>
\layout LyX-Code

</vbox>
\layout LyX-Code

<button>
\layout LyX-Code

<halpin>"py-reset"</halpin>
\layout LyX-Code

<text>"Reset"</text>
\layout LyX-Code

</button>
\layout LyX-Code

</pyvcp>
\layout Standard

Now start up your config and it should look like this.
\layout Standard


\begin_inset Float figure
placement H
wide false
collapsed false

\layout Caption

AXIS E-Stop
\layout Standard
\align center 

\begin_inset Graphics
	filename images/axis_cl-estop.png
	scale 70

\end_inset 


\end_inset 


\layout Standard

Note that in this example like in real life you must clear the remote E-Stop
 (simulated by the checkbox) before the AXIS E-Stop or the external Reset
 will put you in OFF mode.
 If the E-Stop in the AXIS screen was pressed you must press it again to
 clear it.
 You cannot reset from the external after you do an E-Stop in AXIS.
\layout Subsection

Timer/Operate Example
\layout Standard

In this example we are using the Operate block to assign a value to the
 timer preset based on if an input is on or off.
\layout Standard


\begin_inset Float figure
placement H
wide false
collapsed false

\layout Caption

Timer/Operate Example
\layout Standard
\align center 

\begin_inset Graphics
	filename images/Tmr_Section_Display.png
	scale 70
	keepAspectRatio

\end_inset 


\end_inset 


\layout Standard

In this case %I0 is true so the timer preset value is 10.
 If %I0 was false the timer preset would be 5.
\layout Subsection

Tool Turret
\layout Itemize

This Example is not complete yet.
\layout Standard

This is a program for one type of tool turret.
 The turret has a home switch at tool position 1 and another another switch
 to tell you when the turret is in a lockable position.
 To keep track of the actual tool number one must count how many positions
 past home you are.
 We will use ClassicLadder's counter block '$CO'.The counter is preset to
 1 when RESET is true.
 The counter is increased by one on the rising edge of INDEX.
 We then 'COMPARE' the counter value (%C0.V) to the tool number we want (in
 the example only checks for tool 1 and 2 are shown).
 We also 'OPERATE' the counter value to a word variable (%W0) that (you
 can assume) is mapped on to a S32 out HAL pin so you can let some other
 HAL component know what the current tool number is.
 In the real world another S32 (in) pin would be used to get the requested
 tool number from EMC.You would have to load ClassicLadder's real time module
 specifying that you want S32 in and out pins.
 See 'loading options' above.
 [display turret sample]
\layout Subsection

Sequential Example
\layout Itemize

This Example is not complete yet.
\layout Standard

This is a sequential program when the program is first started step one
 is active then when %B0 is true then steps 2 and 3 are then active and
 step one is inactive then when %B1 and/or %B2 are true, step 4 and/or 5
 are active and step 2 and/or 3 are inactive Then when either %B3 OR %B4
 are true, step 6 is true and steps 4 and 5 are inactive then when %B5 is
 true step 1 is active and step 6 is inactive and it all starts again As
 shown the sequence has been: %B0 was true making step 2 and 3 active then
 %B1 became true (and still is-see the pink line through %B1) making step
 4 active and step 2 inactive step 3 is active and waiting for %B2 to be
 true step 4 is active and is waiting for %B3 to be true WOW that was quite
 a mouth full!! [display sequential program]
\the_end