Lenze E94P PositionServo with MVOB Bedienungsanleitung PDF herunterladen (Seite 41)

PM94H201B_13xxxxxx_EN L 39

Programming

2.7.2 Memory Access Through Special System Variables

VAR_MEM_VALUE holds the value that will be read or written to the RAM ﬁle. VAR_MEM_INDEX points to the position

in the RAM ﬁle (0 to 32767) that data will be read from or written to, and VAR_MEM_INDEX_INCREMENT holds the

value that will be modiﬁed after the read or write operation is completed.

The RAM memory access is illustrated with the example program herein.

;---------------------------------------------------------------------------

;User’s program to read/write to RAM le.

;Advance index after writing/reading by 1

;Record position error to RAM le every 100 ms for 10 seconds. 10/0.1 = 100

;locations are needed

;---------------------------------------------------------------------------

DEFINE IndexStart 0

DEFINE MemIncrement 1

DEFINE RecordLength 100

DEFINE PElimit 0.1 ;0.1 user unit

VAR_MEM_INDEX = IndexStart ;set start position

VAR_MEM_INDEX_INCREMENT=MemIncrement ;set increment

;---------------------------------------------------------------------------

EVENT StorePE TIME 100

VAR_MEM_VALUE = VAR_POSERROR ;store in RAM le.

ENDEVENT

PROGRAMSTART:

EVENT StorePE ON

{

Start some motion activity….

}

;wait until data collection is over

WHILE VAR_MEM_INDEX < (IndexStart+RecordLength)

ENDWHILE

EVENT StorePE Off ;turn off storage

;Analyze data collected. If PE > PElimit then signal system has low performance…

VAR_MEM_INDEX= IndexStart

WHILE VAR_MEM_INDEX < (IndexStart+RecordLength)

IF (VAR_MEM_VALUE > PElimit)

GOTO Label_SignalBad

ENDIF

ENDWHILE

LabelSignalBad:

{

Signal that PE out of limits

…

}

END

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