瑞士瑞诺Infranor智能型交流伺服驱动器 GD系列GD编程手册下载（英文）.pdf瑞士瑞诺Inf

文件名称: 瑞士瑞诺Infranor智能型交流伺服驱动器 GD系列GD编程手册下载（英文）.pdf

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详细说明：瑞士瑞诺Infranor智能型交流伺服驱动器 GD系列GD编程手册下载（英文）pdf,瑞士瑞诺Infranor智能型交流伺服驱动器 GD系列GD编程手册下载（英文）Gem Drive -Programming guide CINFRANOR Contents CONTENTS 3 CHAPTER 1. GEM DRIVE PROGRAMMING 5 1. NTRODUCTION 2. PROGRAMMING STRUCTURE 2. 1. Fast Cyclical Task: FCT 2. 2. User Cyclical Task: UCT.. 2. 3. Movement Task: MVT CHAPTER 2. NTEGRATED DEVELOPMENT ENVIRONMENT mmu 6 1. INTRODUCTION 2. PROJECT MANAGEMENT 3. PROGRAMMING ENVIRONMENT INTERFACE 3.1 File menu commands 3.2. Edit menu commands 3.3. view menu commands 11 3. 4. Program Menu Commands 3.5. Autocompletion 13 4. DRIVE PARAMETERS: EEDS. MNEMONIC INDEX/SUBINDEX 14 5. MAKE A NEW USER PROGRAM 14 Step 1: Create a New User Program 14 Step 2: Edit and Add Project Source Files Step 3: Customize the user program configuration 20 Step 4: Build and correct a User Program: Program Compilation 20 Step 5: Load the generated building output into the drive Step 6: Start the program execution .22 Step 7: Finally, monitor the program execution 22 CHAPTER 3. ELEMENTS OF THE PROGRAMMING LANGUAGE: EC 1131-3 .23 1. OVERVIEW 23 2. USER PROGRAM ORGANIZATION 3. PROGRAMMING LANGUAGE INSTRUCTION LIST 25 4. PROGRAMMING LANGUAGE REFERENCE 41.comment 4.2. Data Type 4.3. Constants ..27 4.4. User variables 4. 4.1 User Variable Naming.. 4.4.2 User Variable Type 28 4.4.3 User variable declaration 28 4. 4. 4 Array variable 29 4.4.5 User Names Report 4.4.6 Local axis parameters versus remote device objects(SDO): ap, rdo, wdo 4.5. Assignment 32 4.6. Saving/ Restoring user variables…… ∴32 4. 7. Language Operators 33 4.7.1 Arithmetic Operators 4.7.2 Comparison Operators 34 4.7.3 Bits Handling 34 4. 8. Conditiona/ statement: if then else 4.9. Iteration Statement ( Loop) while, for 38 4.10. Flow Control instructions:et, goto label, retur,加a!.“…、… 4.9.1 Count Controlled Loop 4.9.2 Condition Controlled Loop 4.10.exit" statement 4.10.2 goto label" statement 4.10.return" statement 4.10.4"state ment ..40 Contents Gem Drive Programming guide CINFRANOR 4. 11. Wait a delay time.. 41 4.12 Wait until Condition 着面上‘EB国 41 4.13. Start Stop cyclical tasks .42 4.14.Ma力 h functions 42 4.14.1ABs 42 4.14.2SQRT 43 4.14.3S|N 4.14.4COS 4.14.5ATAN 4.15. Main block: Begin, Eno!…… 44 45 4. 16. Function: Definition, call, arguments, parameters, return 46 4 Contents Gem Drive- Programming Guide CINFRANOR Chapter 1. Gem Drive Programming 1 Introduction The Gem Drive is the newest INFRANOR product One of the differences with the former Infranor drive ranges is its programmability. a basic programming language was defined for this purpose. This gives the Gem Drive more autonomy. This programming language is based on IEC 1131-3 syntax To make system integration easy, Gem Drive offers a comprehensive and powerful high-level application programming interface, as well as our Gem Drive Studio for its setting, tuning and programming. These user friendly software tools are designed to help the user getting up-and-running quICKly. 2. Programming structure When a user program is defined for an axis, it may contain maximum three tasks: MoVement task MVt Fast Cyclical Task: FCT User Cyclical task: UCT Only the Mvt task is mandatory. The drive multitask kernel will execute all the tasks simultaneously. 2.1. Fast Cyclical Task: FCT The u Fast Cyclical Task >)or FCT is a very fast cyclical task. It is in correlation with regulation loops As the Gem Drive position loop is sampled at 500us the code size must be reduced to 40 basic operations. Blocking instructions or temporization is prohibited as well 2.2. User Cyclical Task: UCT he User Cyclical Task is less time critical than FCT. this task allows the user to cyclically execute larger codes. The task sample is fixed by the user according to the application need. Nevertheless, to avoid the system locking, blocking instructions and temporization are also prohibited for this task 23 MoVement Task: MVT Contrarily to the above ones, the Movement Task is executed as a background task. Without any temporal restriction, all language operations are allowed Chapter 1-Gem Drive programming Gem Drive Programming guide DINFRANOR Chapter 2. Integrated Development Environment 1 Introduction Gem Drive Studio is an intuitive Windows e based, Integrated development Environment (IDE for developing motion applications. It is dedicated to the newest generation of INFRANOR programmable drives, called Gem Drive. The IDE provides flexible project management environment making the system easy to program 2. Project management A project is designed in a single entity for all user applications. It is organized by axis. For each axis the user can setup the drive parameters and, at need, make an application program with an unique software. Gem Drive Studio includes also diagnostic tools like the oscilloscope, helping the user during the whole development process. This section will deal with the programming tools only. This includes Edit text files. From the IDe, the user can create and modify source. The IdE provides extensive editing features such as Undo/Redo, Copy/Paste Find and go To line Define and manage project program. Within the IDE, the user specifies the files that the compiler Tool processes when building application projects. He can create this project definition once or modify it to meet changing development needs The IDE provides dialogs through which the user specifies options for the compiler Tool These options control how the tool processes inputs and generates outputs. the user can define these options once or modify them to meet changing development needs View and respond to project build results. The user can then go to the line of a compilation error message within a source file Once the program successfully built, an executable output is generated. The user can then load it into the target drive. In the drive, the executable program can then be launched depending on the initial configuration. The program execution may be controlled later by using the execution control tool from the pc Finally, the monitoring tool helps the user to monitor the loaded program execution All dialog windows are easy-to-use and make configuring, changing and managing projects easy Commands for programming the axes in the Gem Drive Studio environment are located at five places The file The edit men The view menu The progra The Short-cut menu, which is accessible with left and right mouse button clicks in the Project navigator window. Chapter 2-Integrated Development Environment Gem Drive- Programming Guide DINFRANOR The project operations available at these places are as follows File menu commands This pull-down menu lets you handle or create a new project, as well as to handle source files for axis programming Edit menu commands” This pull-down menu provides the user with all what he needs when editing source files " View menu commands” This pull-down menu includes some helpful commands for the program editor. Program Menu Commands This pull-down menu allows the user to handle a user program, to control its building, loading and then executing and monitoring " Short-Cut Menu commands From the Program menu, left and right mouse button clicks on the program items of the project navigator offer the user a direct access to the programming windows 3. Programming environment interface User programs can be created, viewed or modified by using the IDE editor. This is a powerful editor cluding a lot of interesting features helping the user to develop complex applications. The main editor features ar Language syntax highlighting OLE Drag and drop Bookmarks Standard editing functionalities such as cut, copy and paste, find and replace, undo The Gem Drive Studio environment commands are available through the menus shown in Figure 3-1 C Gem Drive Studio file Edit View Project Connection Program Iools WindowsInfos Figure 3-1: Gem Drive Studio Me Chapter 2-Integrated Development Environment Gem Drive-Programming Guide CINFRANOR 3.1 File menu commands The GDs File Menu is shown in Figure 3-2. By using this menu, the user can create a new program file, open an existing one or save file changes. He can also open a list of files by using a drag-and- drop method applied to files dragged e. g. from a Windows Explorer and dropped on Gem Drive Studio New Project Open Project Unarchive a project Save project Close project Archive the project New Source File tr+N Create a new file Open file Ctrl+o Open an existing file Close file Close the edited file Save file Ctrl+s Save the modified file ave file as Save the current file to a new file name Export file to hTMl Export the edited file to html format Print file Ctrl+p Print the selected file Direct access to most recently opened files Exit Exit GDS Figure 3-2: GDS File Menu An edited file can be exported to html format by using the Export File to HTML "command. As programs are edited with syntax coloring, the html format allows keeping the program's syntaxic color, giving the user comprehensible printable programs. Programs can also be viewed by external Windows applications like "Microsoft Windows Explorer The"Print File"command is used to print an active file. This command opens a print dialog window where the user can select a destination printer and specify the range of pages to be printed, the number of copies and other printer setup options Most recently used files are listed at the bottom of the File Menu. The list contains the last four documents opened in the order last opened, first listed. Each file can be opened by clicking on its name within the list Use the Exit"command to end your environment session. The IDE environment will prompt you to save any modified documents or project changes Chapter 2-Integrated Development Environment Gem Drive- Programming Guide CINFRANOR 3.2. Edit Menu commands The Gem Drive Studio environment Edit Menu provides most standard windows edit commands. The Edit contains the commands that appear in Figure 3-3: Edit Undo Ctrl+z Reverse previous edit operation Ctrl+y th- Reverse undo operation Cut Ctrl+x Move selected text to the clipboard Ctr+c Copy selected text to the clipboard Paste Ctrl+y Paste clipboard text into the file Select all Ctrl+A Select all text in document Find Ctrl+F Find text and place bookmarks Find next F3 Find next occurrence of text Find p U5 Find previous occurrence of text Replace Ctrl+H Find and replace text Go To line e the cursor to a text lin Toggle Bookmark Toggle (add or remove bookmark Next bookmark Go to next bookmark Previous bookmark th Go to previous book mark Clear all bookmark Clear all bookmarks Figure 3-3: GDS Edit Menu Use the multilevel"Undo"command (Ctrl Z), to reverse the last editing action and use the " Redo command(Ctrl y, to reverse the previous"Undo"commands in reverse order. The Cut/Copy/Past"commands perform the standard tasks of cutting, copying text to the clipboard and pasting from the clipboard contents into the document at its insertion point With the " Select All"command(Ctrl a), the user can select all the document text before cutting or copying for example The "Find"commands (Ctrl..) are used to search a text or a regular expression in the active document Find Find what ext to fir Find Directio Mark a‖l 厂 Match whole word only Match case 厂 Regular expression Figure 3-4: GDS Find dialog box Chapter 2-Integrated Development Environment Gem Drive- Programming guide CINFRANOR This dialog box allows the user to set the " Find What"text, case sensitivity and search direction features for the Find command. the "Wrap around selection lets the user wrap around the end of the file The user can also set bookmarks by using the Mark All"command. this lets the user mark all instances of text, wherever they occur, in his code(see explanation below) The"" command (Ctrl H) is used to replace a specified text with a given one ep Find nes Replace with 且 eplace wrap around Replace A‖ Match whole word only Close Match case Regular expression Figure 3-5: GDS Replace dialog box Regular expressions are non-alphabetic characters that are used to control a search in Find/Replace operations as indicated in the table below Matches any character Marks the start of a region for tagging a match ) Marks the end of a tagged region Where n is 1 through 9 refers to the first through nine tagged regions when replacing For example, if the search string was Axis\([1-91\)xxX and the replace string was Slave\1YYY, when applied to Axis2XXX this would generate slave2YYY A Matches the start of a word. I> Matches the end of a word. Allows to use a character x that would otherwise have a special meaning. For example, would be interpreted as[ and not as the start of a character set [.]Indicates a set of characters, for example, [abc] means any of the characters a, b or c Ranges can also be used, e.g. a-z] for any lower case character [[^s大 The complement of the characters in the set. For example, [AA-Za-z] means any character except an alphabetic character Matches the start of a line(unless used inside a set. see above atches the end of a line Matches 0 or more times. For example, Axis2* s matches Axis s, Axis2 S, Axis22 S. Saaam Axis222 s and so on Matches 1 or more times. For example, DInput-+ M matches DInput1 M, DInput11 M, and so on Table 3-1: Regular Expression Operators 10 Chapter 2-Integrated Development Environ ment

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