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180 SAnyBus ; Start .define cSTART_INIT = 1 .define cANYBUS_INIT = 2 .define cSET_ETN_CONFIG = 3 .define cCONNECT_TIMEOUT = 4 .define cEND_INIT = 5 .define cNoModule = 0 .define cProfibusDB = 1 EXTENDED REGISTER GROUPS gosub SRou_SAnyBusInit ;init the module wait 1=2 ; ; ; Give the fieldbus module time to start. ; SRou_SAnyBusInit: SAnybus.TimeOut,50 clr rOnLine clr tmr.t0 wait SAnybus.FBType cNoModule if SAnybus.FBType = cProfibusDB then ProfibusDP clr tmr.t0 wait tmr.t0 > 100 return ;================== ; ; ProfiBus-DP ; ProfibusDP: Vector.SAnybus, @IRou_ProfiBus ;set vector or int.sysmask, 4096 ;enable interrupt SAnybus.HasMail, 0 ; Clear mailbox flag SAnybus.Mode, 1+2+4+8+16 ; Enable SANYBUS and all interrupts and reverse ;read gosub SendStartInit ; gosub SendInit64_64 ; gosub SendEndInit return ; ;Interrupt entry for profibus ;Remember that the ABOut buffer is holds the OUTPUT FROM the Anybus module ;seen frombthe PL2 side. ;The ABIn buffer holds the INPUT TO the Anybus module seen from the PL2 side. IRou_ProfiBus: if SAnybus.HasOutput = 0 then isrProfibus00 ;test if any data in output ;buffer SAnybus.HasOutput, 0 ; Clear flag ; User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS SAnyBus ; Copy return data anybusout getlong rTmp91,0 ;read byte 0 - 3 into reg anybusout getint rTmp92,4 ;read byte 4 - 5 into reg anybusout getbyte rTmp93,6 ;read byte 6 into reg anybusin putlong rTmp91,0 ;write back first long AnybusIO Send ;send it back isrProfibus00: if SAnybus.HasMail = 0 then isrProfibus10 ; We handle this in code. But we show it here anyway. ; disp SAnybus.HasMail isrProfibus10: if SAnybus.OnLine = rOnLine then isrProfibus20 ; disp SAnybus.OnLine rOnLine, SAnybus.OnLine isrProfibus20: ireturn sys 4096 ; ; START_INIT ; SendStartInit : rProtNumber, cSTART_INIT SAnybus.Command, 1 ; Prepare START_INIT mail message wait SAnybus.Command = 0 ; Wait for it to be done SAnybus.Command, 7 ; Send to fieldbus module wait SAnybus.HasMail = 1 ; Wait for response mail ; Investigate response mail for errors here if ABOutMail.MessageInfo < 0 then ErrorProt SAnybus.HasMail, 0 return ; Clear mailbox flag SendInit64_64: rProtNumber, cANYBUS_INIT SAnybus.Command, 3 ; Prepare ANYBUS_INIT mail message wait SAnybus.Command = 0 ; Wait for it to be done ; Modify default values here in ABInMail ; Length in bytes! ; PBIn.InIOLen, 64 PBIn.InDPRAMLen, 64 PBIn.InTotalLen, 64 PBIn.OutIOLen, 64 PBIn.OutDPRAMLen, 64 PBIn.OutTotalLen, 64 ABInMail.ModuleStatus, 512+2 ; default value (you must keep 512) User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 181
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HEAD OFFICE INMOTION TECHNOLOGIES A
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Table of Contents Table of Contents
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Related items .....................
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Related items .....................
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Creating/Editing Source Code ......
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12 System architecture register val
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14 B002 Timing and execution flow T
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16 Function Block Diagram SOFTWARE
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18 Function Block Diagram Figure 5.
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20 Function Block Diagram Function
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22 Load a new firmware release SOFT
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24 User's Manual 5.1 Inmotion Techn
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26 Argument types executing results
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28 Mnemonic Operators PL2 NATIVE PO
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30 Compiler Symbols PL2 NATIVE POSI
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32 Compiler directives PL2 NATIVE P
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34 Compiler directives Warnings: No
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36 Spline function compilation dire
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38 Multiline Macro MACRO DEFINITION
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PL2 Mnemonics GENERAL The general f
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PL2 MNEMONICS Standard set Mnemonic
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PL2 MNEMONICS TRACE RELATED MNEMONI
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PL2 MNEMONICS Indexed Addressing Mn
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PL2 MNEMONICS If r_length < r_Membe
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PL2 MNEMONICS Text mode \000 Intern
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Extended register groups INTRODUCTI
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EXTENDED REGISTER GROUPS STACK HAND
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EXTENDED REGISTER GROUPS RD1, Resol
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EXTENDED REGISTER GROUPS RD1.FiltSp
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EXTENDED REGISTER GROUPS RD2.ChkLow
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EXTENDED REGISTER GROUPS Pos Inc Pr
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EXTENDED REGISTER GROUPS Pg.ASpeed
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EXTENDED REGISTER GROUPS MOTOR, MOT
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EXTENDED REGISTER GROUPS 2-Pole: 81
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EXTENDED REGISTER GROUPS Motor.Base
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EXTENDED REGISTER GROUPS REG, PID R
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EXTENDED REGISTER GROUPS GROUP MEMB
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EXTENDED REGISTER GROUPS Positive T
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EXTENDED REGISTER GROUPS Reg, PID r
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EXTENDED REGISTER GROUPS Gear.Incr
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EXTENDED REGISTER GROUPS Gear, Elec
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EXTENDED REGISTER GROUPS TMR, SYSTE
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EXTENDED REGISTER GROUPS Tmr, Syste
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EXTENDED REGISTER GROUPS RELATED IT
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EXTENDED REGISTER GROUPS SysIo.ADC1
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EXTENDED REGISTER GROUPS Bit10 (102
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EXTENDED REGISTER GROUPS INT, INTER
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EXTENDED REGISTER GROUPS Bit2 (4) =
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EXTENDED REGISTER GROUPS Int, Inter
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EXTENDED REGISTER GROUPS IN, DIGITA
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EXTENDED REGISTER GROUPS X7A:6. In.
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EXTENDED REGISTER GROUPS X7B:33. Ou
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EXTENDED REGISTER GROUPS Vector, In
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EXTENDED REGISTER GROUPS CAPTURE, C
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EXTENDED REGISTER GROUPS Ana.ConnTM
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EXTENDED REGISTER GROUPS EEPROM Gro
Page 129 and 130: EXTENDED REGISTER GROUPS Bit(0..3)
Page 131 and 132: EXTENDED REGISTER GROUPS GROUP MEMB
Page 133 and 134: EXTENDED REGISTER GROUPS RD1CORR, P
Page 135 and 136: EXTENDED REGISTER GROUPS OptAD, ana
Page 137 and 138: EXTENDED REGISTER GROUPS OptAD.7 7
Page 139 and 140: EXTENDED REGISTER GROUPS LAN1, LOCA
Page 141 and 142: EXTENDED REGISTER GROUPS WriteLAN1
Page 143 and 144: EXTENDED REGISTER GROUPS LAN1, Loca
Page 145 and 146: EXTENDED REGISTER GROUPS LAN1, Loca
Page 147 and 148: EXTENDED REGISTER GROUPS LAN1.ErrVe
Page 149 and 150: EXTENDED REGISTER GROUPS MsgObjLAN1
Page 151 and 152: EXTENDED REGISTER GROUPS isrDone: M
Page 153 and 154: EXTENDED REGISTER GROUPS MsgObjLAN2
Page 155 and 156: EXTENDED REGISTER GROUPS Denominato
Page 157 and 158: EXTENDED REGISTER GROUPS ABIN Group
Page 159 and 160: EXTENDED REGISTER GROUPS DSTORE, Gr
Page 161 and 162: EXTENDED REGISTER GROUPS PARAREA, G
Page 163 and 164: EXTENDED REGISTER GROUPS XENDAT, Gr
Page 165 and 166: EXTENDED REGISTER GROUPS wait tmr.t
Page 167 and 168: EXTENDED REGISTER GROUPS XENDAT.Tra
Page 169 and 170: EXTENDED REGISTER GROUPS XENDAT, Af
Page 171 and 172: EXTENDED REGISTER GROUPS XENDAT.RPo
Page 173 and 174: EXTENDED REGISTER GROUPS Counter 0
Page 175 and 176: EXTENDED REGISTER GROUPS IDENTIFIER
Page 177 and 178: EXTENDED REGISTER GROUPS >RPDATA.Ar
Page 179: EXTENDED REGISTER GROUPS EXAMPLE US
Page 183 and 184: EXTENDED REGISTER GROUPS GROUP MEMB
Page 185 and 186: EXTENDED REGISTER GROUPS SAnyBus As
Page 187 and 188: EXTENDED REGISTER GROUPS PutLONG Pu
Page 189 and 190: EXTENDED REGISTER GROUPS ABOUTMAIL
Page 191 and 192: EXTENDED REGISTER GROUPS EN1-EN4, E
Page 193 and 194: EXTENDED REGISTER GROUPS IENC Group
Page 195 and 196: EXTENDED REGISTER GROUPS MODEN3-MOD
Page 197: EXTENDED REGISTER GROUPS ModEN3.Cap
Page 200 and 201: 200 Computer Mode Record type 1 2 3
Page 203 and 204: PL2 On line commands PL2 ON LINE CO
Page 205: PL2 ON LINE COMMANDS Command name E
Page 208 and 209: 208 B009 Definitions THE ECT MAIN M
Page 210 and 211: 210 Edit in generating this code. F
Page 212 and 213: 212 Compile EXITING EDIT To exit Ed
Page 214 and 215: 214 Test line, assisting the user t
Page 216 and 217: 216 Test including the upload and d
Page 218 and 219: 1 2 3 4 5 6 X7:A 16 15 14 13 12 11
Page 220: Start (reset entry) Init If ..... t
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