Application Manual For Programmable Controller RC-Talk (RC-207)

Transcription

1 Application Manual For Programmable Controller RC-Talk (RC-207)

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3 Table of Contents Introduction... 1 Eight Steps To System Completion... 1 System Design... 1 Wiring... 1 Installing Rc-Talk... 2 Running Rc-Talk... 2 Writing And Editing Program... 4 Application Sample Apllication Sample Compiling... 7 Running & Monitoring... 7 Running In Stand-Alone Mode... 8 Prepared by: Semix Documentation Dept. Document ID. RC-Talk AP-01 Rev. 2.0, Jan. '93 RC-Talk Version 2.0, 7/9/01 i

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5 Introduction RCTalk language designed for RC-207, makes programming easier and allows you to build a system in the shortest time possible. This manual includes two examples for explaining the use of RCTalk software. Sample Inputs and outputs only. Sample One-axis motion control with inputs and outputs. It is recommended that you at least study the examples and steps before writing your own program. Eight Steps to System Completion The procedures for operating the programmable controller can be broadly divided into the following eight steps: 1. System design & I/O assignment 2. Wiring 3. Installing RCTalk 4. Running RCTalk 5. Writing & Editing a Program 6. Compiling 7. Running & Monitoring 8. Running in Stand-alone Mode System Design: First, the equipment or system to be controlled must be chosen. The ultimate purpose of controller RC-207 is to control an external system. This "system" could be comprised of only inputs and outputs (I/O) or motion control and I/O's. You should decide on the components for your system before proceeding to the next steps. Initially you may want to configure your system similar to the samples for practice. Wiring: Input devices such as limit switches, sensors, relays, solenoids, etc. should be hooked up as detailed in the wiring instruction manual. If your system calls for a stepper motor, refer to the driver instruction manual for wiring the motor and driver. Note: Check all wiring before turning the power supply on. RC-Talk Version 2.0, 7/9/01 1

6 Installing RCTalk To create a directory and copy all the files to your hard drive type the following: c:\md rctalk c:\cd rctalk c:\copy a:*.* This completes the procedure for installing RC-Talk software onto your Hard Drive. For more information, refer to the User's manual, page 2. Running RC-Talk Switch to rctalk directory: c:\cd rctalk Type rctalk and hit enter to run RC-Talk: c:\rctalk>rctalk <file> /<monitor type> monitor type -- v VGA e EGA h Hercules When you start RC-Talk, your screen appears with an animated picture of automation. Press any key to open RC-Talk's text editor screen. Note: If you want to use a mouse, refer to the User's manual for mouse techniques. The software has a default setting of one for COM port and body number. The body number is the identification for the RC-207 controller. To set COM port and body #, do the following steps: 1. Select Option menu - Press ALT key and then press letter O. 2. Select Environment - Press Shift+F7. 3. Type the COM port and Body number in the dialog box. To move between boxes use press tab key. Press enter key after editing all the selection. You can load the application program samples to get familiar with programming using RC-Talk. 1. Press ALT and then F. 2. Under file menu select Open command by Pressing O. 2 RC-Talk Version 2.0, 7/9/01

7 3. Type iodemo.rct or mdemo.rct in the dialog box and then press Enter. RC-Talk Version 2.0, 7/9/01 3

8 Writing & Editing a Program Load either iodemo.rct or mdemo.rct or write your own program after referring to the Language Reference manual. Application Sample 1 (iodemo.rct) System Configuration with input and output devices only (Refer to page -- RC-207 installation manual for system configuration and wiring.) ;****************************************************************** ; This program is written in RC_Talk language for a RC_207 controller. ; ; The outputs on port 2 rotate in both directions (left and ; right), depending on the status of input port 3 bit 1. If the input ; is ON - it rotates right, if OFF - it rotates left. This operation ; will run non-stop until input port 3 bit 0 is turned ON. ; ;****************************************************************** DEF Eloop = INP 3 BIT 0 ;Define end of loop by inport 3 bit 0 DEF RDir = INP 3 BIT 1 ;Define rotate direction switch by inport 3 bit 1 A = 01H ; Load 01hex into A buffer DO CALL MaskA WAIT 2 LOOP WHILE Eloop OFF ; Call MaskA subroutine ; Wait for 200 millisecs.(timer has100 ms multiplication ; factor) ; Repeat until INP 3 Bit 0 OFF END SUB MaskA If RDir ON THEN ROTATER A END IF IF RDIR OFF THEN ROTATEL A END IF OUT 2 A ; Check INP 3 BIT 1 status ; Rotate Right the contents of buffer A ; Rotate Left the contents of buffer A ; Set outport 2 with buffer A contents END SUB 4 RC-Talk Version 2.0, 7/9/01

9 Application Sample 2 (mdemo.rct) System Configuration with input, and output devices and one axis motion control: (Refer to page -- of the RC-207 Installation manual for system configuration and wiring.) ;****************************************************************** ; This program is written in RC_Talk language for RC_207 ; controller. ; This program runs two step motor alternatley while turning ouputs based on ; the status of the inputs. ; ; ; ;****************************************************************** DEF ENDLOOP = INP1 BIT 4 ;Define end of the loop with snesor Input port 1 bit 4 DEF SENSR0 = INP 3 BIT 0 ;Define sensor0 input port 3 bit 0 DEF SENSR1 = INP 3 BIT 1 DEF SENSR2 = INP 3 BIT 2 DEF SENSR3 = INP 3 BIT 3 DEF SENSR4 = INP 3 BIT 4 DEF SENSR5 = INP 3 BIT 5 DEF SENSR6 = INP 3 BIT 6 DEF SENSR7 = INP 3 BIT 7 DEF OUT0 = INP 5 BIT 0 ;Define outport 2 bit 0 as input 5 DEF OUT1 = INP 5 BIT 1 DEF OUT2 = INP 5 BIT 2 DEF OUT3 = INP 5 BIT 3 DEF OUT4 = INP 5 BIT 4 DEF OUT5 = INP 5 BIT 5 DEF OUT6 = INP 5 BIT 6 DEF OUT7 = INP 5 BIT 7 DEF ARM = MOTOR 1 DEF ROTARY = MOTOR 2 ;Define motor 1 as ARM MODE 2DRV ARM RESET ROTARY RESET COUNTER = ;Set position counter to 2000 pulses RC-Talk Version 2.0, 7/9/01 5

10 DO CALL UPDATEOUTPUTS ARM MOVE INC CW FINISH MOVE ;Call subroutine updateoutputs CALL UPDATEOUTPUTS MOVE INC CCW FINISH MOVE CALL UPDATEOUTPUTS ROTARY MOVE INC CW FINISH MOVE CALL UPDATEOUTPUTS MOVE INC CCW FINISH MOVE LOOP WHILE ELOOP OFF END SUB UPDATEOUTPUTS A = INP 3 OUT 2 A END SUB 6 RC-Talk Version 2.0, 7/9/01

11 Compiling: This procedure under Program menu converts the program to low level commands before downloading it to the controller. 1. Press Alt and then F, select save command to save the existing file. 2. To select Program menu press Alt and then letter P 3. To compile Program press C. If program is error free the RC-Talk software downloads the low level program to RC-207's RAM or EEPROM. Refer to Program menu in User's manual page 14. Note: To run and monitor the program connect RC-207 to computer. Refer to wiring instruction manual for details. Donot save to EEPROM when program is running. Abort or END the program before Saving or Erasing the program to or from EEPROM Running & Monitoring 1. Press Alt and then letter P. 2. Press Shift+F7 for Monitoring with Definitions or press F7 to monitor ports only. 3. Press F1 or R to run the program. Once the program is running you can monitor the inputs, outputs, and information about motors, if they are part of the system. 4. Press F3 or E to End the program or F2 or A to abort the program. Note: Aborting the program will result in sudden stopping of the motor, if running. 5. Press F6 or Esc to exit the monitor screen. You can edit the program if necessary. Compile and run it again to verify the program. RC-Talk Version 2.0, 7/9/01 7

12 Running in Stand-Alone Mode If you are satisfied with the logic and the program has run successfully, save the program to memory and the program file. 1. Press Alt, and then P to open Program menu. 2. Select Save command. This procedure saves the program to controller EEPROM. 3. Press Alt, and then F to open file menu. 4. Select Save command in file menu to save program file. Refer to User's manual for more details. Once the program is debugged for logic and saved in the controller's EEPROM, it is ready to run in stand alone mode. 5. Turn off power to the system, including the controller and driver. 6. Wait for a few minutes. 7. Turn power ON. The controller should starts the sequence automatically without any prompting from the computer. You have now successfully completed using RC-Talk to program and run RC-207 contoller in stand-alone mode. 8 RC-Talk Version 2.0, 7/9/01