ecmcPLC.h File Reference

PLC commands. More...

Go to the source code of this file.

Macros
#define	CHECK_PLCS_RETURN_IF_ERROR()

Functions
int	createPLC (int index, double cycleTime, int axisPLC)
	Create a PLC object called. .
int	deletePLC (int index)
	Delete PLC. .
int	setPLCExpr (int index, char *expr)
	Set PLC expression. .
int	appendPLCExpr (int index, char *expr)
	Append Line to PLC expression. .
int	loadPLCFile (int index, char *fileName)
	Load PLC file. .
int	writePLCVar (int index, const char *varName, double value)
	Write to PLC variable. .
int	readPLCVar (int index, const char *varName, double *value)
	Read PLC variable. .
int	clearPLCExpr (int index)
	Clear PLC expression. .
int	compilePLCExpr (int index)
	Compile PLC expression. .
int	setPLCEnable (int index, int enable)
	Set enable of PLC. .
int	getPLCEnable (int index, int *enabled)
	Set enable of PLC. .
const char *	getPLCExpr (int axisIndex, int *error)
	Get PLC expression. .

Detailed Description

PLC commands.

Macro Definition Documentation

CHECK_PLCS_RETURN_IF_ERROR

#define CHECK_PLCS_RETURN_IF_ERROR

(

)

Value:

        {\
          if (!plcs) {\
            return ERROR_MAIN_PLCS_NULL;\
          }\
        }

Function Documentation

appendPLCExpr()

int appendPLCExpr	(	int	index,
		char *	expr )

Append Line to PLC expression.
.

Append one line of PLC Code. Code syntax is defined on exprtk website.
Variables that can be used are described below.
Compile will be performed automatically just before going to runtime during
validation.

Parameters

[in]	index	PLC index.
[in]	expr	Expression.

Returns

0 if success or otherwise an error code.
Accessible variables in code:

1. static.<varname> Static variable. Initiated to 0. (rw)
   Access only in the PLC where defined.
   Will keep value between execution
   loops.
   
2. global.<varname> Global variable. Initiated to 0. (rw)
   Access from all PLCs.
   Will keep value between execution
   loops.
   
3. var <varname> Local variable (exprtk syntax) (rw)
   Will NOT keep value between
   execution loops.
   EtherCAT data:

1. ec<ecid>.s<sid>.<alias>.<bitid> ethetcat data (rw)
   ecid: ethercat master index
   sid: ethercat slave bus position
   alias: entry name as defined in
   "Cfg.EcAddEntryComplete()\n bitid: bit index (optional)\n Motion variables: 1. ax<id>.id axis id (ro)\n 2. ax<id>.reset reset axis error (rw)\n 3. ax<id>.counter execution counter (ro)\n 4. ax<id>.error error (ro)\n 5. ax<id>.enc.actpos actual position (ro)\n 6. ax<id>.enc.actvel actual velocity (ro)\n 7. ax<id>.enc.rawpos actual raw position (ro)\n 8. ax<id>.enc.source internal source or expressions (ro)\n source = 0: internal encoder\n source > 0: actual pos from expr\n 9. ax<id>.enc.homed encoder homed (rw)\n 10. ax<id>.enc.homepos homing position (rw)\n 11. ax<id>.traj.setpos curent trajectory setpoint (ro)\n 12. ax<id>.traj.targetpos target position (rw)\n 13. ax<id>.traj.targetvel target velocity setpoint (rw)\n 14. ax<id>.traj.targetacc target acceleration setpoint (rw)\n 15. ax<id>.traj.targetdec target deceleration setpoint (rw)\n 16. ax<id>.traj.setvel current velocity setpoint (ro)\n 17. ax<id>.traj.setvelffraw feed forward raw velocity (ro)\n 18. ax<id>.traj.command command (rw)\n command=1: move velocity\n command=2: move rel. pos\n command=3: move abs. pos\n command=10: homing\n 19. ax<id>.traj.cmddata cmddat. Homing procedure\n only valid if ax<id>.traj.command=10\n cmddata=1 : ref low limit\n cmddata=2 : ref high limit\n cmddata=3 : ref home sensor\n (via low limit)\n cmddata=4 : ref home sensor\n (via high limit)\n cmddata=5 : ref center of home sensor\n (via low limit)\n cmddata=6 : ref center of home sensor\n (via high limit)\n cmddata=15 : direct homing\n cmddata=21 : ref partly abs. encoder\n (via low limit).\n ref at abs bits.\n over/under-flow.\n. cmddata=22 : ref partly abs. encoder\n (via high limit).\n ref at abs bits.\n over/under-flow.\n. 20. ax<id>.traj.source internal source or expressions (ro)\n source = 0: internal traj\n source > 0: setpoints from expr\n 21. ax<id>.traj.execute execute motion command (rw)\n 22. ax<id>.traj.busy axis busy (ro)\n 23. ax<id>.traj.dir axis setpoint direction (ro)\n ax<id>.traj.dir>0: forward\n ax<id>.traj.dir<0: backward\n ax<id>.traj.dir=0: standstill\n 24. ax<id>.cntrl.error actual controller error (ro)\n 25. ax<id>.cntrl.poserror actual position error (ro)\n 26. ax<id>.cntrl.output actual controller output (ro)\n 27. ax<id>.drv.setvelraw actual raw velocity setpoint (ro)\n 28. ax<id>.drv.enable enable drive command (rw)\n 29. ax<id>.drv.enabled drive enabled (ro)\n 30. ax<id>.seq.state sequence state (homing) (ro)\n 31. ax<id>.mon.ilock motion interlock (both dir) (rw)\n ax<id>.mon.ilock=1: motion allowed\n ax<id>.mon.ilock=0: motion not allowed\n 32. ax<id>.mon.ilockbwd motion interlock bwd dir (rw)\n ax<id>.mon.ilockbwd=1: motion allowed\n ax<id>.mon.ilockbwd=0: motion not allowed\n 33. ax<id>.mon.ilockfwd motion interlock fwd dir (rw)\n ax<id>.mon.ilockfwd=1: motion allowed\n ax<id>.mon.ilockfwd=0: motion not allowedn 34. ax<id>.mon.attarget axis at taget (ro)\n 35. ax<id>.mon.lowlim low limit switch (ro)\n 36. ax<id>.mon.highlim high limit switch (ro)\n 37. ax<id>.mon.homesensor home sensor (ro)\n 38. ax<id>.mon.lowsoftlim low soft limit (rw)\n 39. ax<id>.mon.highsoftlim high soft limit (rw)\n 40. ax<id>.mon.lowsoftlimenable low soft limit enable (rw)\n 41. ax<id>.mon.highsoftlimenable high soft limit enable (rw)\n 42. ax<id>.blockcom Enables/disables "set" commands (rw)\n via command parser (ascii commands)\n Statuses can still be read.\n Exceptions ("set"-commands) that will work: - "StopMotion(axid)" - "Cfg.SetAxisBlockCom(axid,block)" PLC variables: 1. plc<id>.enable plc enable (rw)\n (end exe with "plc<id>.enable:=0#"\n Could be usefull for startup\n sequences)\n 2. plc<id>.error plc error (rw)\n Will be forwarded to user as\n controller error.\n 3. plc<id>.scantime plc sample time in seconds (ro)\n 4. plc<id>.firstscan true during first plc scan only (ro)\n usefull for initiations of variables\n Data Storage variables: 1. ds<id>.size Set/get size of data storage (rw)\n Set will clear the data storage\n 2. ds<id>.append Add new data at end (rw)\n Current position index will be increased 3. ds<id>.data Set/get data ar current position (rw)\n 4. ds<id>.index Set/get current position index (rw)\n 5. ds<id>.error Data storage class error (ro)\n 6. ds<id>.clear Data buffer clear (set to zero) (ro)\n 7. ds<id>.full True if data storage is full (ro)\n Function Lib: EtherCAT 1. retvalue = ec_set_bit( <value>, : Value to change <bitindex> : Bit index ); Sets bit at bitindex position of value. Returns the new value.\n 2. retvalue = ec_clr_bit( <value>, : Value to change <bitindex> : Bit index ); Clears bit at bitindex position of value. Returns the new value.\n 3. retvalue = ec_flp_bit( <value>, : Value to change <bitindex> : Bit index ); Flips bit at bitindex position of value. Returns the new value.\n 4. retvalue = ec_chk_bit( <value>, : Value to change <bitindex> : Bit index ); Checks bit at bitindex position of value. Returns the value of bit.\n 5. retvalue=ec_get_err(): Returns error code from last lib call.\n Function Lib: Motion 1. retvalue = mc_move_abs( <axIndex>, : Axis index\n <execute>, : Trigger\n <pos>, : Target position\n <vel>, : Target velocity\n <acc>, : Acceleration\n <dec> : Deceleration\n ): Absolute motion of axis.\n Motion is triggerd with a positive edge on <execute> input.\n returns 0 if success or error code.\n 2. retvalue = mc_move_rel( <axIndex>, : Axis index\n <execute>, : Trigger\n <pos>, : Target position\n <vel>, : Target velocity\n <acc>, : Acceleration\n <dec> : Deceleration\n ); Relative motion of axis <axIndex>.\n Motion is triggerd with a positive edge on <execute> input.\n returns 0 if success or error code.\n 3. retvalue = mc_move_vel( <axIndex>, : Axis index\n <execute>, : Trigger\n <vel>, : Target velocity\n <acc>, : Acceleration\n <dec> : Deceleration\n ); Constant velocity motion of axis <axIndex>.\n Motion is triggerd with a positive edge on <execute> input.\n returns 0 if success or error code.\n 4. retvalue = mc_home( <axIndex>, : Axis index\n <execute>, : Trigger\n <seqId>, : Motion sequence\n <velTwoardsCam>, : Target Velocity twords cam\n <velOffCam> : Target velocity off cam\n ); Perform a homing sequence of axis <axIndex>.\n Motion is triggerd with a positive edge on <execute> input.\n returns 0 if success or error code.\n 5. retvalue = mc_halt( <axIndex>, : Axis index\n <execute>, : Trigger\n ); Stop motion of axis <axIndex>.\n Motion is triggerd with a positive edge on <execute> input.\n returns 0 if success or error code.\n 6. retvalue = mc_power( <axIndex>, : Axis index\n <enable>, : Enable power\n ); Enable power of axis <axIndex>.\n Motion is triggerd with a positive edge on <execute> input.\n returns 0 if success or error code.\n 7. retvalue = mc_get_err(); Returns error code for last lib call.\n Function Lib: Data Storage 1. retvalue = ds_append_data( <dsIndex>, : Data storage index\n <data>, : Data\n ); Append data to data storage.\n returns 0 if success or error code.\n 2. retvalue = ds_clear_data( <dsIndex>, : Data storage index\n ); Clear data to data storage.\n returns 0 if success or error code.\n 3. retvalue = ds_get_data( <dsIndex>, : Data storage index\n <bufferIndex>, : Buffer index\n ); Returns data from buffer.\n 4. retvalue = ds_set_data( <dsIndex>, : Data storage index\n <bufferIndex>, : Buffer index\n ); Sets data in data storage buffer.\n returns 0 if success or error code.\n 5. retvalue = ds_get_buff_id( <dsIndex>, : Data storage index\n ); Returns current buffer index.\n 6. retvalue = ds_set_buff_id( <dsIndex>, : Data storage index\n <bufferIndex>, : Buffer index\n ); Sets current buffer index in data storage buffer.\n returns 0 if success or error code.\n 7. retvalue = ds_is_full( <dsIndex>, : Data storage index\n ); Returns true if buffer is full.\n 8. retvalue = ds_get_size( <dsIndex>, : Data storage index\n ); Returns buffer size of data storage.\n 9. retvalue = ds_get_err() Returns error code for last lib call.\n 10. retvalue = ds_push_asyn( <dsIndex>, : Data storage index\n ); Push data array to epics. (usefull if asyn param sample time\n is set to -1).\n 11. retvalue = ds_get_avg( <dsIndex>, : Data storage index\n ); Returns average of the values in the data storage.\n 12. retvalue = ds_get_min( <dsIndex>, : Data storage index\n ); Returns minimum of the values in the data storage.\n 13. retvalue = ds_get_max( <dsIndex>, : Data storage index\n ); Returns maximum of the values in the data storage.\n \note Pipe sign "|" should be used instead of ";" This because asynOctet interface uses ";" as command delimiter\n. \note Example: Add one line of PLC code to PLC 5 "ec0.s1.OUTPIN_1.0=ec0.s2.INPIN_3.0
   "Cfg.AppendPLCExpr(5,ec0.s1.OUTPIN_1.0=ec0.s2.INPIN_3.0|)" //Command string to ecmcCmdParser.c.
   

Note

Example: Add code by plc file to PLC 5 (prefered solution, the ";" can
be used):
"Cfg.LoadPLCFile(5,<filename with path>)" //Command string to ecmcCmdParser.c.

clearPLCExpr()

int clearPLCExpr

(

int

index

)

Clear PLC expression.
.

Clears all plc code of a PLC object.

Parameters

[in]

index

PLC index.

Returns

0 if success or otherwise an error code.

Note

Example: Clear code of PLC 5
"Cfg.ClearPLCExpr(5)" //Command string to ecmcCmdParser.c.

compilePLCExpr()

int compilePLCExpr

(

int

index

)

Compile PLC expression.
.

Compiles code of PLC object

Parameters

[in]

index

PLC index.

Returns

0 if success or otherwise an error code.

Note

Example: Compile code of PLC 5
"Cfg.CompilePLC(5)" //Command string to ecmcCmdParser.c.

createPLC()

int createPLC	(	int	index,
		double	cycleTime,
		int	axisPLC )

Create a PLC object called.
.

Parameters

[in]	index	PLC index number
[in]	cycleTime	CycleTime in seconds
[in]	axisPLC	If PLC for axis

Returns

0 if success or otherwise an error code.

Note

Example: Create PLC at index 0 (executing every 10th cycle).
"Cfg.CreatePLC(0,9)" //Command string to ecmcCmdParser.c

Example: Create PLC at index 0 (executing every cycle).
"Cfg.CreatePLC(0)" //Command string to ecmcCmdParser.c

deletePLC()

int deletePLC

(

int

index

)

Delete PLC.
.

Delete PLC object ethercat entries are available.

Parameters

[in]

index

PLC index.

Returns

0 if success or otherwise an error code.

Note

Example: Delete PLC 4
"Cfg.DeletePLC(4);" //Command string to ecmcCmdParser.c.

getPLCEnable()

int getPLCEnable	(	int	index,
		int *	enabled )

Set enable of PLC.
.

Enable a PLC.

Parameters

[in]	index	PLC index.
[out]	enabled	Enabled.

Returns

0 if success or otherwise an error code.

Note

Example: Get enable for PLC 5
"GetPLCEnable(5)" //Command string to ecmcCmdParser.c.

getPLCExpr()

const char * getPLCExpr	(	int	axisIndex,
		int *	error )

Get PLC expression.
.

Parameters

[in]	plcIndex	Axis index.
[out]	error	Error code. error = 0: No error. error > 0: Error.

Returns

pointer to transformation expression.

Note

Example: Get PLC expression for plcIndex 5.
"getPLCExpr(5)" //Command string to ecmcCmdParser.c.

loadPLCFile()

int loadPLCFile	(	int	index,
		char *	fileName )

Load PLC file.
.

Load file with PLC code to PLC.
For syntax look at "appendPLCExpr()".
PLC file will be enabled. Compile will be performed automatically just
before going to runtime during validation.

Parameters

[in]	index	PLC index.
[in]	fileName	File name.

Returns

0 if success or otherwise an error code.

Note

Example: Load plc fil with code to PLC 5
"Cfg.LoadPLCFile(5,/home/iocuser/dummyPLC.plc)" //Command string to ecmcCmdParser.c.

readPLCVar()

int readPLCVar	(	int	index,
		const char *	varName,
		double *	value )

Read PLC variable.
.

Note

: Only static variables are supported.

Parameters

[in]	index	PLC index.
[in]	varName	Variable name.
[out]	value	Read value.

Returns

0 if success or otherwise an error code.

Note

Example: Read variable static.test in plc 5
"ReadPLCVar(5,static.test)" //Command string to ecmcCmdParser.c.

setPLCEnable()

int setPLCEnable	(	int	index,
		int	enable )

Set enable of PLC.
.

Enable a PLC.

Parameters

[in]	index	PLC index.
[in]	enable	Enable.

Returns

0 if success or otherwise an error code.

Note

Example: Set enable for PLC 5
"Cfg.SetPLCEnable(5,1)" //Command string to ecmcCmdParser.c.

setPLCExpr()

int setPLCExpr	(	int	index,
		char *	expr )

Set PLC expression.
.

The PLC expression is used for PLC functionalities.
See appendPLCExpr() for more information.

Parameters

[in]	index	PLC index.
[in]	expr	Expression.

Returns

0 if success or otherwise an error code.

Note

Pipe sign "|" should be used instead of ";" This because asynOctet interface uses ";" as command delimiter
.

Example: Set expression for PLC 5 to "ec0.s1.OUTPIN_1.0=ec0.s2.INPIN_3.0\n "Cfg.SetPLCExpr(5)=ec0.s1.OUTPIN_1.0=ec0.s2.INPIN_3.0|" //Command string to ecmcCmdParser.c.

writePLCVar()

int writePLCVar	(	int	index,
		const char *	varName,
		double	value )

Write to PLC variable.
.

Note

: Only static variables are supported.

Parameters

[in]	index	PLC index.
[in]	varName	Variable name.
[in]	value	Value to write.

Returns

0 if success or otherwise an error code.

Note

Example: Write 100.0 to variable static.test in plc 5
"WritePLCVar(5,static.test,100.0)" //Command string to ecmcCmdParser.c.