Delta Tau GEO BRICK LV Manual Do Utilizador
Geo Brick LV User Manual
PinOuts and Software Setup
50
Encoder Loss Example PLC:
A 4-axis Geo Brick is setup to kill all motors upon the detection of one or more encoder loss. In addition,
it does not allow enabling any of the motors when an encoder loss condition has been encountered:
it does not allow enabling any of the motors when an encoder loss condition has been encountered:
#define Mtr1AmpEna
M139
; Motor#1 Amplifier Enable Status Bit
Mtr1AmpEna->X:$B0,19
; Suggested M-Variable
#define Mtr2AmpEna
M239
; Motor#2 Amplifier Enable Status Bit
Mtr2AmpEna->X:$130,19
; Suggested M-Variable
#define Mtr3AmpEna
M339
; Motor#3 Amplifier Enable Status Bit
Mtr3AmpEna->X:$1B0,19
; Suggested M-Variable
#define Mtr4AmpEna
M439
; Motor#4 Amplifier Enable Status Bit
Mtr4AmpEna->X:$230,19
; Suggested M-Variable
#define Mtr1EncLoss
M180
; Motor#1 Encoder Loss Status Bit
Mtr1EncLoss->Y:$078807,0,1
;
#define Mtr2EncLoss
M280
; Motor#2 Encoder Loss Status Bit
Mtr2EncLoss->Y:$078807,1,1
;
#define Mtr3EncLoss
M380
; Motor#3 Encoder Loss Status Bit
Mtr3EncLoss->Y:$078807,2,1
;
#define Mtr4EncLoss
M480
; Motor#4 Encoder Loss Status Bit
Mtr4EncLoss->Y:$078807,3,1
;
#define SysEncLoss
P1080 ; System Global Encoder Loss Status (user defined)
SysEncLoss=0
; Save and Set to 0 at download, normal operation
; =1 System Encoder Loss Occurred
OPEN PLC 1 CLEAR
If (SysEncLoss=0)
; No Loss yet, normal mode
If (Mtr1EncLoss=0 or Mtr2EncLoss=0 or Mtr4EncLoss=0 or Mtr4EncLoss=0)
CMD^K
CMD^K
; One or more Encoder Loss(es) detected, kill all motors
SysEncLoss=1
; Set Global Encoder Loss Status to Fault
EndIf
EndIF
If (SysEncLoss=1)
EndIF
If (SysEncLoss=1)
; Global Encoder Loss Status At Fault?
If (Mtr1AmpEna=1 or Mtr2AmpEna=1 or Mtr4AmpEna=1 or Mtr4AmpEna=1) ; Trying to Enable Motors?
CMD^K
CMD^K
; Do not allow Enabling Motors, Kill all
EndIF
EndIF
CLOSE
EndIF
CLOSE