Operating Mode - Parker 631 Digital Produkthandbuch

631 Digital Servo Drive

Operating Mode 5

Three user-defined programs can be executed in parallel when in Operating Mode 5:
1. The BIAS program
2. The PLC program
3. The Mathematics program (cyclic execution using remaining processing time)
The BIAS program
This is primarily intended for supervising travel commands. If the application permits, simple
calculations can be performed and analog/digital I/O's can be serviced in this task.
The PLC program
This performs I/O logic, sequence control, monitoring and CAN-Bus communications.
The Mathematics program
This is deals with complex calculations, e.g. computing of a cam, which is then executed by the
BIAS program. But it is also possible to store the same tasks here, basically defined for PLC task,
which can increase PLC performance of the 630 controllers approximately twenty times.
Whilst the BIAS program is executed from the start block directly after activation of Operating
Mode 5, the PLC program is first started by the BIAS command "PLC-program", and the
Mathematics program is started by the command "Mathematics program".
When the command "End of program" is reached (Mode = 0), the respective execution pointer
jumps to its start label.
The following command groups are provided within the command set:
Program flow control
- Fixing start/end of main and sub-programs
- Conditional and unconditional jump commands
Travel relevant commands
- Positioning commands
- Parameter commands
- Technology functions
Logic commands
- Logic commands for coils and internal relays
Variable commands
- Writing and reading of parameters
- Fundamental operations of arithmetic with long integer
- Type conversions long integer <=> double float (Math task only)
- Fundamental operations of arithmetic with double float (Math task only)
- SIN(x),COS(x),SQRT(x) with double float (Math task only)
- Writing and reading of synchronous profile tables.
CANbus commands
- Communication with other Parker SSD Drives products
For more information refer to the BIAS Programming Language manual (UL,10,6,5).
Programming Your Application
>Register positioning
>PID control
>Synchronous applications
6-3