PPCAN-Editor 2. Reference Document for Function Blocks and I/O Resources. Document version ( )

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1 2 Reference Document for Function Blocks and I/O Resources Document version ( )

2 IMPRINT Duplication (copying, printing, or other forms) and the electronic distribution of this document is only allowed with explicit permission of PEAK-System Technik GmbH. PEAK-System Technik GmbH reserves the right to change technical data without prior announcement. The general business conditions and the regulations of the license agreement apply. All rights are reserved. PEAK-System Technik GmbH Otto-Roehm-Strasse Darmstadt Germany Phone: Fax: Web: +49 (0) (0) Document version ( ) 2 - Reference 2

3 TABLE OF CONTENTS Function Blocks Add Subtract Multiply Divide Power Left Shift Right Shift Left Shift Const Right Shift Const NOT OR NOR AND NAND XOR XNOR Modulo Greater Less Equal Greater or Equal Less or Equal Not Equal OR Const NOR Const AND Const NAND Const XOR Const XNOR Const Modulo Const If Greater If Less If Equal Reference If Greater or Equal If Less or Equal If Not Equal Greater Const Less Const Equal Const Within Range Outside Range Abs Limit Limit Sum Abs Difference Limit Sum Fixpoint Min Max Square Power Const e Function ln Function Sign-dependent Offset Dead Zone Random Scale with Limit If Greater Const If Less Const If Equal Const If Within Range If Outside Range I/O Functions I/O Functions Overview 87 Function Blocks Overview Identity Scaling Hysteresis Monoflop Extended Hysteresis Switch Delay Lowpass Characteristic Curve Characteristic Curve with Limit Characteristic Map Characteristic Map with Limit Small Map Ramp Counter Counter with Clock and Reload Input PI Element PIDT1 Element Difference Math Function Binary Field 3

4 FUNCTION BLOCKS OVERVIEW Depending on the hardware different resources are available. The following table shows the support of the function blocks for the different hardware platforms. Identity Scaling Hysteresis Monoflop Extended Hysteresis Switch Delay Lowpass Characteristic Curve Characteristic Curve with Limit Characteristic Map Characteristic Map with Limit Small Map Ramp Counter Counter with Clock and Reload Input PI Element PIDT1 Element Difference Math Function Binary Field $01 $10 $11 $12 $14 $15 $20 $21 $22 $23 $24 $25 $30 $32 $40 $50 $51 $60 $74 PCAN-MIO (32 Bit) PCAN-Router Pro MU-Thermocouple - Function Blocks ID Function Block 2 - Reference: Function Blocks - Function Blocks Overview 4

5 IDENTITY Copies the input variable to the output variable. = 1 Function Blocks Inputs / s 2 - Reference: Function Blocks - Identity 5

6 SCALING Conversion of an input value, uses multiplier and offset, result is copied into the output variable. = * Scale * ExtraScale + Offset Offset Time Scale Fixpoint , to +32, Offset Fixpoint , to +32, Parameter 1 ExtraScale 1 bis 32,767 Extension of the Scale value (multiplication) if the range of values isn t sufficient. Useful values for this parameter are powers of 10 (10, 100, 1000, etc.). 2 - Reference: Function Blocks - Scaling Inputs / s Function Blocks Scale = 2, Offset > 0, ExtraScale = 1 6

7 HYSTERESIS HighOutValue LowOutValue The output is set to one of two predefined values depending on the input value. = LowOutValue if < LowerThreshold = HighOutValue if > UpperThreshold stays unchanged if LowerThreshold <= <= UpperThreshold Inputs / s -32,768 to 32,767 LowerThreshold -32,768 to 32,767 Limit for ; when fallen below, is set to LowOutValue UpperThreshold -32,768 to 32,767 Limit for ; when exceeded, is set to HighOutValue LowOutValue -32,768 to 32,767 Value for if < LowerThreshold HighOutValue -32,768 to 32,767 Value for if > UpperThreshold StartMode 0, 1, 2 0: O utput is HighOutValue, if the starting value is above the average value of the hysteresis. Otherwise, the output is LowOutValue. 1: O utput is HighOutValue, if the starting value is greater than UpperThreshold. Otherwise, the output is LowOutValue. 2: O utput is LowOutValue, if the starting value is lower than LowerThreshold. Otherwise, the output is HighOutValue. Parameter Reference: Function Blocks - Hysteresis Function Blocks Upper Threshold Lower Threshold 7

8 MONOFLOP For a predefined period the output is set to one of two predefined values depending on the input value. Mode 0 Mode 2 Mode 4 * Time *The example for mode 4 is displayed with a shorter delay. Inputs / s -32,768 to 32,767 Delay 0 to 32,767 Delay in milliseconds Threshold -32,768 to 32,767 Limit for detection of a High or Low input signal Mode 0, 1, 2, 4 Operating mode of the monoflop LowOutValue -32,768 to 32,767 Default output value of the monoflop HighOutValue -32,768 to 32,767 value as long as the monoflop is active TimeScale 0 to 32,767 Multiplier for the parameter 1, Delay. If the range of values for Delay is not sufficient, it can be expanded with TimeScale. Parameter 1 TimeScale = 0: An expansion is omitted. TimeScale > 0: The product of Delay and TimeScale is used as delay. 2 - Reference: Function Blocks - Monoflop Function Blocks Mode 1 Aktiv Delay Delay Delay Aktiv LowOutValue Aktiv HighOutValue Delay LowOutValue Aktiv Delay HighOutValue Delay Aktiv LowOutValue Delay Delay HighOutValue Aktiv LowOutValue Delay Aktiv HighOutValue Delay Mode = 0: level-triggered monoflop = HighOutValue, as long as >= Threshold; when < Threshold, is set to LowOutValue after Delay milliseconds. Mode = 1: edge-triggered monoflop, repeatedly triggerable = HighOutValue for the period Delay when a positive edge is detected at ; any further positive edge during the active period restarts the Delay period. = LowOutValue when the Delay period is over. Mode = 2: edge-triggered monoflop = HighOutValue for the period Delay when a positive edge is detected at. = LowOutValue when the Delay period is over. Mode = 4: Ouput = HighOutValue, as long as < Threshold; when >= Threshold, is set to LowOutValue after Delay milliseconds. Delay Threshold 8

9 EXTENDED HYSTERESIS Depending on an input value the output is activated (set to 1) for a predefined period Timeout. A second input is used as enable signal. = 1 at change to <> 0 AND > (<) LevelOn AND DelayOn period is over 1 0 LevelOn LevelOff 0 DelayOn DelayOff Time Example: Mode 1 Inputs / s = 0: Disable, <> 0: Enable = Enable Level 0, 1 Parameter 1 Mode 1, 2, 5, 6 1: Default behavior (see function description) 2: The relation symbols shown in parentheses are valid 5: As Mode = 1, = 0 after Timeout period 6: As Mode = 2, = 0 after Timeout period LevelOn -32,768 to 32,767 Level for on detection DelayOn 0 to 32,767 Minimum period in milliseconds for > LevelOn LevelOff -32,768 to 32,767 Level for off detection DelayOff 0 to 32,767 Minimum period in milliseconds for < LevelOff Timeout 0 to 32,767 Relevant only for Mode = 5, 6 After switching on the output it is switched off again after Timeout milliseconds at the latest. 2 - Reference: Function Blocks - Extended Hysteresis Function Blocks 1 = 0 if = 0 OR < (>) LevelOff AND DelayOff period is over 9

10 SWITCH DELAY Switch-on delay, switch-off delay, or combination of both. OnValue OffValue DelayOn DelayOff Time Inputs / s SwitchOnDelay 0 to 32,767 Period in milliseconds for switch-on delay SwitchOffDelay 0 to 32,767 Period in milliseconds for switch-off delay Threshold Threshold for comparison with input signal OffValue Default output value of the monoflop OnValue value as long as the monoflop is active TimeScale 0 to 32,767 Multiplier for Parameter 1 (Time) if the range of values for Parameter 1 isn t sufficient. Parameter 1 Timescale = 0: Parameter 1 remains unchanged Timescale > 0: t he actual Time value is multiplied with Timescale 2 - Reference: Function Blocks - Switch Delay Function Blocks Switch-off delay: a s soon as the input < Threshold for at least SwitchOffDelay milliseconds, the output is set to OffValue. Threshold Switch-on delay: a s soon as the input >= Threshold for at least SwitchOnDelay milliseconds, the output is set to OnValue. 10

11 LOWPASS In1 = 100% In1 = 100% In1 = 0% In1 = 0% Out = 0,63*In1 Out = 0,37*In1 Out = 0 Out = 0 t = TimeConstant Time t = TimeConstant Applies to this step response generally: Applies to this step response generally: = * (1-e -t/ TimeConstant) = * e -t/ TimeConstant Implementation of a delay element by a low pass with adjustable time. Inputs / s 16 bit unsigned 0 to +65, bit unsigned 0 to +65,535 TimeConstant 0 to 32,767 Time in milliseconds Parameter 1 Time 2 - Reference: Function Blocks - Lowpass Function Blocks Out = In1 Out = In1 11

12 CHARACTERISTIC CURVE 600 P2 500 CurveID = 1 PointCount = 6 P0 P1 P2 P3 P4 P5 X Y P3 400 Sample values: P1 300 P P If the input value is below the smallest X value or above the largest X value, then the first or last corresponding Y value is returned. = Curve() Inputs / s Parameter 1 CurveID 0 to 32,767 ID of the characteristic curve that shall be used. The respective nodes are defined and stored separately for different characteristic curves. The maximum number of available characteristic curves is dependent on the used module type. 2 - Reference: Function Blocks - Characteristic Curve Function Blocks P5 700 The input signal is converted via a predefined characteristic curve. The characteristic curve may have up to 30 nodes (index from 1 to 30). The X values of the nodes must be in an ascending order. Between two nodes a linear interpolation is done. 12

13 CHARACTERISTIC CURVE WITH LIMIT P2 P3 P1 P4 P0 200 P0 P1 P2 P3 P4 P5 X Y Sample values: CurveID = 1 PointCount = 6 LowErrorValue = 25 HighErrorValue = If the input value is below the smallest X value, then LowErrorValue is returned. If the input value is above the largest X value, then HighErrorValue is returned. = Curve() Inputs / s Parameter 1 CurveID 0 to 32,767 ID of the characteristic curve that shall be used. The respective nodes are defined and stored separately for different characteristic curves. The maximum number of available characteristic curves is dependent on the used module type. LowErrorValue Return value at undercut of the smallest input value defined by the characteristic curve HighErrorValue Return value when exceeding the largest input value defined by the characteristic curve 2 - Reference: Function Blocks - Characteristic Curve with Limit Function Blocks 500 LowErrorValue 600 HighErrorValue P5 700 The input signal is converted via a predefined characteristic curve. The characteristic curve may have up to 30 nodes (index from 1 to 30). The X values of the nodes must be in an ascending order. Between two nodes a linear interpolation is done. 13

14 CHARACTERISTIC MAP P3 P4 P5 P P1 P2 200 CurveID = 0; = Example Characteristic Map with 8 characteristic curves 1st Characteristic curve: CurveID = 0; PointCount = 8 P0 (Z) P1 P2 P3 P4 P5 P6 P7 (X) (Y) Sample values for = 0: (X) (Z) (Y) Sample values for = 350: (X) (Z) (Y) The input signal is converted via a predefined area that is composed of a list of characteristic curves. Each characteristic curve must have the same number of nodes. The characteristic curves may each have up to 30 nodes (index from 1 to 30). The value of x[0] (index = 0) defines the Z-axis intercept for each characteristic curve. The value of y[0] is insignificant. The IDs of the characteristic curves must be ascendant. The X values of the nodes must be in an ascending order. Between two nodes a linear interpolation is done for both the X and the Z direction. = Map(, ) Inputs / s X value Z value Y value 2 - Reference: Function Blocks - Characteristic Map Function Blocks 300 P

15 StartCurveID 0 to 32,767 First characteristic curve describing the area NumberOfCurves 0 to 32,767 Number of characteristic curves composing an area Function Blocks Parameter Reference: Function Blocks - Characteristic Map 15

16 CHARACTERISTIC MAP WITH LIMIT Example Characteristic Map with 8 characteristic curves 1st Characteristic curve: CurveID = 0; PointCount = 8 (X) (Y) P0 (Z) P1 P2 P3 P4 P5 P6 P Example values with the parameters: LowErrorValue1 = 115 HighErrorValue1 = 980 LowErrorValue2 = 20 HighErrorValue2 = P7 400 HighErrorValue (X) (Z) (Y) P1 LowErrorValue2 LowErrorValue1 (X) (Z) (Y) (X) (Z) (Y) HighErrorValue1 The input signal is converted via a predefined area that is composed of a list of characteristic curves. Each characteristic curve must have the same number of nodes. The characteristic curves may each have up to 30 nodes (index from 1 to 30). The value of x[0] (Index = 0) defines the Z-axis intercept for each characteristic curve. The IDs of the characteristic curves must be ascendant. The X values of the nodes must be in an ascending order. Between two nodes a linear interpolation is done for both the X and the Z direction. If either (X) or (Z) are outside the area being defined by the characteristic curves, the ErrorValues predefined by parameters 3 to 6 are returned. If both inputs are outside the area, either parameter 3 or 4 is decisive. = Map(, ) Function Blocks 500 X value Z value Y value 2 - Reference: Function Blocks - Characteristic Map with Limit Inputs / s 16

17 StartCurveID 0 to 32,767 First characteristic curve describing the area NumberOfCurves 0 to 32,767 Number of characteristic curves composing an area LowErrorValue1 Return value if falls below the minimum value HighErrorValue1 Return value if exceeds the maximum value LowErrorValue2 Return value if falls below the minimum value HighErrorValue2 Return value if exceeds the maximum value Parameter 1 Function Blocks 2 - Reference: Function Blocks - Characteristic Map with Limit 17

18 SMALL MAP Further maps: MapIndex = 1 MapIndex = 0 MapIndex = 2 Out=0 Out=1 Out=3 Out=5 Out=0 Out=1 Out=2 Out=3 Out=0 Out=3 Out=6 Out=9 Out=7 Out=8 Out=9 Out=10 Out=4 Out=5 Out=6 Out=7 Out=1 Out=4 Out=7 Out=10 Out=11 Out=2 Out=4 Out=6 Out=8 Out=9 Out=10 Out=11 Out=2 Out=5 Out=8 Out=11 Y1 Y2 X2 X3 if X1 > > X 2 and < Y2 then = 2 if X 2 > > X3 and Y1 < < Y2 then = 9 if > X3 and > Y1 then = 5 Both inputs indicate a position in a matrix of 12 fields. The return values are determined by predefined reference tables (selectable by MapIndex). = f(, ) determines the X position in the matrix, the Y position. The respective limits define the areas (see figures). Inputs / s X1 Limit X1 X2 Limit X2 X3 Limit X3 Y1 Limit Y1 Y2 Limit Y2 MapIndex 0, 1, 2 Determines which predefined reference table is used Function Blocks X1 Example for MapIndex = 0: Parameter Reference: Function Blocks - Small Map 18

19 RAMP COUNTER Counter increments or decrements with each call from LowerLimit to UpperLimit and restarts at LowerLimit afterwards. Step = 1 UpperLimit = + Step Step = 1 if UpperLimit > LowerLimit Step = -1 if UpperLimit < LowerLimit LowerLimit Time The counting frequency depends on the Cycle Time that is set for the function block. Step = -1 LowerLimit Inputs / s Parameter 1 LowerLimit Start value of the counter UpperLimit End value of the counter StartValue Start value of the counter. This is the first return value of the function. 2 - Reference: Function Blocks - Ramp Counter Time Function Blocks UpperLimit 19

20 COUNTER WITH CLOCK AND RELOAD INPUT Counter for edges on. Depending on the parameter EdgeDetectionMode positive, negative, or both edges are counted. The counter counts from StartValue to EndValue in the preset direction (Direction). When = 1, the counter is set to ReloadValue. The counter is a pure software implementation. The counter signal must be steady on a level for the call period of the function block so that the edges are detected reliably. ReloadValue Counter is set to this value when is 1. StartValue Start value of the counter EndValue End value of the counter. At the next count pulse the counter restarts at StartValue. Direction 0, 1 0: decremental, 1: incremental EdgeDetectionMode 0, 1, 2 0: only positive edges on are counted 1: only negative edges on are counted 2: both edges on are counted Reserved 0 At this time this parameter is unused; however, it must be set to 0 to be compatible to future extensions. 0, 1 Parameter Reference: Function Blocks - Counter with Clock and Reload Input Function Blocks Inputs / s 20

21 PI ELEMENT Simple PI controller with reference value and feedback value inputs I = I + ( - ) * ki = ( - ) * kp + I The output is limited to the range of values between LowerLimit and UpperLimit. Reference value Feedback value kp Fixpoint , to +32, Multiplier for input difference, proportional part ki Fixpoint , to +32, Multiplier for input difference, integral part LowerLimit Lower limit for the output UpperLimit Upper limit for the output Parameter 1 Function Blocks Inputs / s 2 - Reference: Function Blocks - PI Element 21

22 PIDT1 ELEMENT 0 ln 1 + PDT1-control + I-control + within limit PIDT1 controller Inputs / s to is the controller input. The difference from the feedback value and the reference value is expected here. For the calculation of the difference the special function block Difference can be used. Is added to the output value of the PIDT1 controller. Controller output Parameter 1 P Fixpoint , to +32, I D T1 Time constant LowerLimit Lower limit of the controller output UpperLimit Upper limit of the controller output 2 - Reference: Function Blocks - PIDT1 Element Function Blocks Precontrol 22

23 DIFFERENCE *Par1 +Par2 0 + *Par3 +Par4 u <= 2 Par5; Par6 If the difference lies within the limits defined by PositiveDeviation and NegativeDeviation, 0 is returned, else the difference is returned. Inputs / s Reference value Feedback value Input signal 1 for PIDT1 controller Scale1-32,768 For Offset1-32,768 For Scale2-32,768 For Offset2-32,768 For PositiveDeviation -32,768 Parameter 1 to +32,767 to +32,767 to +32,767 to +32,767 Function Blocks Both input values can be converted by Scale and Offset independently in order to bring the reference and the feedback value to a commensurable basis. to +32,767 NegativeDeviation 2 - Reference: Function Blocks - Difference Auxiliary function block for the PIDT1 controller for calculation of the difference of reference value and feedback value. 23

24 MATH FUNCTION Collection mathematical and logical functions. The desired function or operation is determined by Parameter 1. Find the description of the functions and operations after the description of the function blocks. Inputs / s depending on the selected function or operation Function/operation depending on the selected function or operation depending on the selected function or operation With this parameter the math function can be chosen from a plain text list. No number has to be entered. depending on the selected function or operation depending on the selected function or operation depending on the selected function or operation depending on the selected function or operation depending on the selected function or operation Parameter 1 Function Blocks 2 - Reference: Function Blocks - Math Function 24

25 BINARY FIELD Assembles a sequence of digital information to a binary value. Please note: IONumberStart + NumberOfInputs must not be higher than 255. Example: Digital inputs 3, 4, 5, and 6 make a connected 4-bit value. = DIN3 * 1 + DIN4 * 2 + DIN5 * 4 + DIN6 * 8: IONumberStart = 3 NumberOfInputs = 4 IOFunction = $80 32 bit Parameter 1 IONumberStart 0 to 255 NumberOfInputs 0 to 32 IOFunction $00 to $FF Indication of an I/O function with its hexadecimal number (incl. string character $ ) 2 - Reference: Function Blocks - Binary Field Inputs / s Function Blocks 32 bit variables and analog inputs can also be used. If their content is!= 0, the value is considered to be logically 1. 25

26 ADD Addition. = + Inputs / s 1st summand 2nd summand Sum 2 - Reference: - Add 26

27 SUBTRACT Subtraction. = - Inputs / s Minuend Subtrahend Difference 2 - Reference: - Subtract 27

28 MULTIPLY Multiplication. = * Inputs / s 1st factor 2nd factor Product 2 - Reference: - Multiply 28

29 DIVIDE Division. = / Inputs / s Dividend Divisor Quotient 2 - Reference: - Divide 29

30 POWER = Inputs / s Radix Exponent Power 2 - Reference: - Power 30

31 LEFT SHIFT Variable bit shift to the left by digit positions (multiplication of with 2) = << Inputs / s 0 to Reference: - Left Shift 31

32 RIGHT SHIFT Variable bit shift to the right by digit positions (division of by 2) = >> Inputs / s 0 to Reference: - Right Shift 32

33 LEFT SHIFT CONST Bit shift to the left by Digits digit positions (multiplication of with 2Digits) = << Digits Digits 0 to 31 Number of positions Inputs / s 2 - Reference: - Left Shift Const 33

34 RIGHT SHIFT CONST Bit shift to the right by Digits digit positions (division of by 2Digits) = >> Digits Digits 0 to 31 Number of positions Inputs / s 2 - Reference: - Right Shift Const 34

35 NOT Inversion of all bits = NOT() The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Inputs / s 2 - Reference: - NOT 35

36 OR Boolean OR function = OR The output value is limited to the indicated length. and can be inverted in addition. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Invert 0, 1 1: invert bitwise Invert 0, 1 1: invert bitwise Inputs / s 2 - Reference: - OR 36

37 NOR Boolean NOR function = NOR The output value is limited to the indicated length. and can be inverted in addition. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Invert 0, 1 1: Invert bitwise Invert 0, 1 1: Invert bitwise Inputs / s 2 - Reference: - NOR 37

38 AND Boolean AND function = AND The output value is limited to the indicated length. and can be inverted in addition. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Invert 0, 1 1: Invert bitwise Invert 0, 1 1: Invert bitwise Inputs / s 2 - Reference: - AND 38

39 NAND Boolean NAND function = NAND The output value is limited to the indicated length. and can be inverted in addition. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Invert 0, 1 1: Invert bitwise Invert 0, 1 1: Invert bitwise Inputs / s 2 - Reference: - NAND 39

40 XOR Boolean XOR function = XOR The output value is limited to the indicated length. and can be inverted in addition. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Invert 0, 1 1: Invert bitwise Invert 0, 1 1: Invert bitwise Inputs / s 2 - Reference: - XOR 40

41 XNOR Boolean XNOR function = XNOR The output value is limited to the indicated length. and can be inverted in addition. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. Invert 0, 1 1: Invert bitwise Invert 0, 1 1: Invert bitwise Inputs / s 2 - Reference: - XNOR 41

42 MODULO Modulo function (remainder of a division) = mod Inputs / s Dividend Divisor Remainder 2 - Reference: - Modulo 42

43 GREATER Comparison function: Greater = 1 if >, else 0 Inputs / s 0, Reference: - Greater 43

44 LESS Comparison function: Less = 1 if <, else 0 Inputs / s 0, Reference: - Less 44

45 EQUAL Comparison function: Equal = 1 if =, else 0 Inputs / s 0, Reference: - Equal 45

46 GREATER OR EQUAL Comparison function: Greater or equal = 1 if >=, else 0 Inputs / s 0, Reference: - Greater or Equal 46

47 LESS OR EQUAL Comparison function: Less or equal = 1 if <=, else 0 Inputs / s 0, Reference: - Less or Equal 47

48 NOT EQUAL Comparison function: Not equal = 1 if <>, else 0 Inputs / s 0, Reference: - Not Equal 48

49 OR CONST Boolean OR function with a constant as comparative value = OR CompareValue The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. CompareValue Inputs / s 2 - Reference: - OR Const 49

50 NOR CONST Boolean NOR function with a constant as comparative value = NOR CompareValue The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. CompareValue Inputs / s 2 - Reference: - NOR Const 50

51 AND CONST Boolean AND function with a constant as comparative value = AND CompareValue The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. CompareValue Inputs / s 2 - Reference: - AND Const 51

52 NAND CONST Boolean NAND function with a constant as comparative value = NAND CompareValue The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. CompareValue Inputs / s 2 - Reference: - NAND Const 52

53 XOR CONST Boolean XOR function with a constant as comparative value = XOR CompareValue The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. CompareValue Inputs / s 2 - Reference: - XOR Const 53

54 XNOR CONST Boolean XNOR function with a constant as comparative value = XNOR CompareValue The output value is limited to the indicated length. ResultLength 0 to 32 Limitation of the result to ResultLength digits. Value 0 is similar to 32, use all bits. CompareValue Inputs / s 2 - Reference: - XNOR Const 54

55 MODULO CONST Modulo function (remainder of a division) with a constant as divisor = mod DivisorValue Divident DivisorValue Divisor Inputs / s 2 - Reference: - Modulo Const 55

56 IF GREATER Conditional execution of function blocks: Greater = 1 if >, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. Inputs / s 2 - Reference: - If Greater 56

57 IF LESS Conditional execution of function blocks: Less = 1 if <, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. Inputs / s 2 - Reference: - If Less 57

58 IF EQUAL Conditional execution of function blocks: Equal = 1 if =, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. Inputs / s 2 - Reference: - If Equal 58

59 IF GREATER OR EQUAL Conditional execution of function blocks: Greater or equal = 1 if >=, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. Inputs / s 2 - Reference: - If Greater or Equal 59

60 IF LESS OR EQUAL Conditional execution of function blocks: Less or equal = 1 if <=, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. Inputs / s 2 - Reference: - If Less or Equal 60

61 IF NOT EQUAL Conditional execution of function blocks: Not equal = 1 if <>, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. Inputs / s 2 - Reference: - If Not Equal 61

62 GREATER CONST Comparison with a constant: Greater = 1 if > CompareValue, else 0 Inputs / s CompareValue 0, Reference: - Greater Const 62

63 LESS CONST Comparison with a constant: Less = 1 if < CompareValue, else 0 Inputs / s CompareValue 0, Reference: - Less Const 63

64 EQUAL CONST Comparison with a constant: Equal = 1 if = CompareValue, else 0 Inputs / s CompareValue 0, Reference: - Equal Const 64

65 WITHIN RANGE Comparison function: Within a range = 1 if LowerLimit <= <= UpperLimit, else 0 Inputs / s LowerLimit UpperLimit 0, Reference: - Within Range 65

66 OUTSIDE RANGE Comparison function: Outside of a range = 1 if < LowerLimit or > UpperLimit, else 0 Inputs / s LowerLimit UpperLimit 0, Reference: - Outside Range 66

67 ABS Absolute value = Abs() Positive values remain unchanged, the sign of negative values is removed. Inputs / s 0 to +2,147,483, Reference: - Abs 67

68 LIMIT Limitation of the input value to a range of values = if LowerLimit <= <= UpperLimit = LowerLimit if < LowerLimit = UpperLimit if > UpperLimit LowerLimit UpperLimit Inputs / s 2 - Reference: - Limit 68

69 LIMIT SUM Limitation of a sum to a range of values Sum = = = = + Sum if LowerLimit <= Sum <= UpperLimit LowerLimit if Sum < LowerLimit UpperLimit if Sum > UpperLimit LowerLimit UpperLimit Inputs / s 2 - Reference: - Limit Sum 69

70 ABS DIFFERENCE Absolute value of a difference = Abs( - ) Positive differences remain unchanged, the sign of negative differences is removed. 0 to +2,147,483,647 Inputs / s 2 - Reference: - Abs Difference 70

71 LIMIT SUM FIXPOINT Limitation of a sum to a range of values Sum = = = = + Sum if LowerLimit <= Sum <= UpperLimit LowerLimit if Sum < LowerLimit UpperLimit if Sum > UpperLimit The values are interpreted as fixpoint numbers in the format (<16-bit value>.<1 / 16-bit value>) Fixpoint , to +32, Fixpoint , to +32, Fixpoint , to +32, LowerLimit Fixpoint , to +32, UpperLimit Fixpoint , to +32, Inputs / s 2 - Reference: - Limit Sum Fixpoint 71

72 MIN Returns the smaller of two values. = Min(, ) Inputs / s 2 - Reference: - Min 72

73 MAX Returns the larger of two values. = Max(, ) Inputs / s 2 - Reference: - Max 73

74 SQUARE Square function = 2 Inputs / s 2 - Reference: - Square 74

75 POWER CONST Exponentiation with a constant = Exponent Radix Exponent Power Inputs / s 2 - Reference: - Power Const 75

76 E FUNCTION Exponential function with the Euler number as radix = Scale1 * e( * Scale2) Scale1 Fixpoint , to +32, Scaling of the power Scale2 Fixpoint , to +32, Scaling of the exponent Inputs / s 2 - Reference: - e Function 76

77 LN FUNCTION Natural logarithm (Euler number as radix) = Scale1 * ln( * Scale2) Scale1 Fixpoint , to +32, Scaling of the logarithm Scale2 Fixpoint , to +32, Scaling of the antilogarithm Inputs / s 2 - Reference: - ln Function 77

78 SIGN-DEPENDENT OFFSET Offset depending on the sign < 0: = Scale * + OffsetIfNeg >= 0: = Scale * + OffsetIfPos Scale Fixpoint , to +32, OffsetIfPos Fixpoint , to +32, Offset if >= 0 OffsetIfNeg Fixpoint , to +32, Offset if < 0 Inputs / s 2 - Reference: - Sign-dependent Offset 78

79 DEAD ZONE Dead zone = 0 if LowerLimit < < UpperLimit = Scale * ( - LowerLimit) if <= LowerLimit = Scale * ( - UpperLimit) if >= UpperLimit Scale Fixpoint , to +32, Set to 1 if not required LowerLimit UpperLimit Inputs / s 2 - Reference: - Dead Zone 79

80 RANDOM Random number from a range of values = Random number (>= MinValue and <= MaxValue) Inputs / s MinValue Smallest possible value of the random number MaxValue Largest possible value of the random number 2 - Reference: - Random 80

81 SCALE WITH LIMIT Conversion of an input value with multiplier and offset, the output is limited by LowerLimit and UpperLimit. Var = = = = * Scale + Offset Var if LowerLimit <= Var <= UpperLimit LowerLimit if Var < LowerLimit UpperLimit if Var > UpperLimit Scale Fixpoint Offset -32, to +32, LowerLimit Lower limit of the output UpperLimit Upper limit of the output Inputs / s 2 - Reference: - Scale with Limit 81

82 IF GREATER CONST Conditional execution of function blocks: Greater as constant = 1 if > CompareValue, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. Inputs / s CompareValue 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. 2 - Reference: - If Greater Const 82

83 IF LESS CONST Conditional execution of function blocks: Less as constant = 1 if < CompareValue, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. Inputs / s CompareValue 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. 2 - Reference: - If Less Const 83

84 IF EQUAL CONST Conditional execution of function blocks: Equal constant = 1 if = CompareValue, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. Inputs / s CompareValue 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. 2 - Reference: - If Equal Const 84

85 IF WITHIN RANGE Conditional execution of function blocks: Within a range = 1 if LowerLimit <= <= UpperLimit, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. Inputs / s LowerLimit UpperLimit 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. 2 - Reference: - If Within Range 85

86 IF OUTSIDE RANGE Conditional execution of function blocks: Outside of a range = 1 if < LowerLimit or > UpperLimit, else 0 If the condition is true, the LinesPerformedIfTrue number of the following function blocks are activated and therefore executed, else they are deactivated. Inputs / s LowerLimit UpperLimit 0, 1 LinesPerformedIfTrue 1 to +32,767 Number of the following function blocks that are executed depending on the condition. 2 - Reference: - If Outside Range 86

87 I/O FUNCTIONS OVERVIEW All resources of a module are addressable with a combination of I/O function and pertinent I/O number. The I/O function represents a basic functionality and the I/O number is a numbered element of this basic function. The available I/O functions are listed in the table. I/O Function 00h 01h DOut Level DOut Frequency Digital output, level Digital output, frequency signal 02h 03h Generates a variable frequency signal with configurable duty cycle. DOut Pulse Width Digital output, PWM signal, indication of the pulse width in time DOut Ratio Digital output, PWM signal, indication of the duty cycle in % Generates a PWM signal with variable duty cycle and configurable frequency. Analog output Diverse module-specific output functions which generally provide additional configuration options. 71h Special In/Out Diverse module-specific functions which can have both input as well as output functions. 80h DIn Level Digital input, level 81h DIn Frequency Digital input, frequency measurement 82h DIn Pulse Width Digital input, PWM measurement, measurement of the pulse width in time 83h DIn Ratio Digital input, PWM measurement, measurement of the duty cycle in % 84h DIn UD Counter Digital input, counter function for quadrature encoder (e.g., for manual operation) 85h Fast UD Counter Digital input, counter function for quadrature encoder (e.g., for motor control) 88h Pull-Up/Down Activate pull-up or pull-down resistor for digital inputs 90h AIn Level Analog input 91h Thermocouple Analog input, thermocouple 98h Tau Time constant of a software low-pass for an analog input CCh Const Pre-defined constants for internal computations CDh Positive Const Pre-defined positive constants from 0 to 255 CEh Negative Const Pre-defined negative constants from 0 to -255 EEh EEPROM Variable EEPROM variables, are automatically archived in the EEPROM and are available again after a power cycle Diverse module-specific input functions which primarily provide general and status F0h Special In information. FFh 32 Bit Variable 32-bit variable for internal computations AOut Level Special Out I/O Functions 10h 70h You want your configuration to influence digital output number 4 of the module. This is executed by the I/O function 00h (digital output) together with I/O number 4. You want the status of digital input number 3 to be queried. This is executed by the I/O function 80h (digital input) together with I/O number Reference: I/O Functions - I/O Functions Overview Examples: 87

88 Depending on the hardware different resources are available. The following table shows the support of the I/O functions for the different hardware platforms. Dout Level Dout Frequency Dout Pulse Width Dout Ratio Aout Level Special Out Special In Out Din Level Din Frequency Din Pulse Width Din Ratio Din UpDown Counter Fast UpDown Counter Din Low Frequency PullUp/PullDown Ain Level ThermoCouple Tau Const Positive Const Negative Const EEPROM Variable Special In Extensionboard 32-bit Variable 00h 01h 02h 03h 10h 70h 71h 80h 81h 82h 83h 84h 85h 86h 88h 90h 91h 98h CCh CDh CEh EEh F0h F1h FFh PCAN-MIO (32 Bit) PCAN-Router Pro MU-Thermocouple I/O Functions ID I/O Function 2 - Reference: I/O Functions - I/O Functions Overview 88