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78 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
13.2 SSD Drives programming language BIAS
In Operating mode 5 – Position control with BIAS, three user-defined programs can be executed parallel.
The BIAS-program and the PLC-program
(sequence cascades, 1 command per position controller sampling = 844 µs) as well as the Mathematics
program (cyclic execution in remaining time of processor).
The BIAS-program is primary intended for administration of travel commands. If application permits, also
simple calculations can be performed and analog/digital I/O‘s can be serviced in this task.
The PLC-task is conceived to perform I/O logic, sequence control, monitoring and CAN-Bus
communication.
The Mathematics program is designed for complex calculations, e.g. computing of a cam, executed by the
BIAS-program afterwards. But it is also possible to store the same tasks here, as basically defined for PLC-
task, which can increase PLC performance of the 637+ controller approx. twenty times.
While the BIAS-program will be executed from the start block directly after activation of
operating mode 5, the PLC-program will be first started by BIAS-command "PLC-program" and the
Mathematics program by command "Mathematics program". At reaching the command "End of program"
(Mode = 0) the respective execution pointer re-jumps to his start label.
Within the command set the following command groups are provided:
Pogram flow control
- Fixing start/end of main- and sub-programs
- Conditional and unconditional jump commands
Travel relevant commands
-Positioning commands
-Parameter commands
-Technology functions >Register positioning
>PID-control
>Synchronous applications
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.
CAN-Bus commands
-Communication with other SSD Drives products