Table of Contents - TG Drives

16
Function Block Diagram
SOFTWARE SYSTEM
When programming a PL2 application an event triggered programming technique
is recommended. Figure 3 illustrates the principle.
• After startup of the system when the PL2 code initially gains access to the
processor, a number of initializations normally take place. These may include
setting up motor and resolver parameters, regulator and interrupt system.
• After setup program execution enters some main loop. The main loop may
contain nothing. Instead all action to be taken may be triggered by interrupts.
• Special interrupt routines are executed for each detected interrupt. In this way
the program assumes a function oriented structure which is easier to maintain.
There are justified exceptions to this principal.
• For example, operator interface functions may be handled in the main loop.
• It is important to realize the meaning of interrupt in the PL2 environment. An
interrupt does alter the natural flow of PL2 code execution, but it is not the
direct result of a change of sequence flow estate of the hardware.
• Most PL2 interrupts are generated by the FW, sometimes in reaction to a
hardware interrupt, but more often by polling the hardware status each servo
cycle.
• A PL2 interrupt response time is therefore always approximately 1ms.
• The predictable interrupt response time is yet another advantage of event
triggered programming.
• The rate of PL2 statements executed varies with the complexity of the
statements and the number of real time functions active in the servo cycle. It is
not advisable to base any real time related functions on the execution times of
PL2 code.
FUNCTION BLOCK DIAGRAM
Each function blocks in Figure 4. is explained in the following tables. For each
function block the related register set, the input signals or ”trigger” to the block and
the resulting output (or what is affected) from the block are listed.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001