NAME

ClassicLadder - realtime software plc based on ladder logic

SYNOPSIS

loadrt classicladder_rt [numRungs=N] [numBits=N] [numWords=N] [numTimers=N] [numMonostables=N] [numCounters=N] [numPhysInputs=N] [numPhysOutputs=N] [numArithmExpr=N] [numSections=N] [numSymbols=N] [numS32in=N] [numS32out=N] [numFloatIn=N] [numFloatOut=N]

loadusr classicladder <file name> [--nogui]

DESCRIPTION

This component consist of a realtime part and a non-realtime part (often called 'userspace' in the LinuxCNC documentation). The non-realtime part loads the programmable ladder description, while the realtime part provides the pins. The file name of the configuration can be changed using an argument to the non-realtime part. By default the non-realtime part provides a graphical visualisation of the loaded ladder, which can be disabled using the '--nogui' option to the non-realtime part.

These pins and parameters are created by the realtime classicladder_rt module. Each period (minimum 1000000 ns), ClassicLadder reads the inputs, evaluates the ladder logic defined in the GUI, and then writes the outputs.

PINS

classicladder.0.in-NN IN bit: These bit signal pins map to %INN variables in ClassicLadder.
classicladder.0.out-NN OUT bit: These bit signal pins map to %QNN variables in ClassicLadder. Output from ClassicLadder.
classicladder.0.s32in-NN IN s32: Integer input from ClassicLadder. These s32 signal pins map to %IWNN variables in ClassicLadder.
classicladder.0.s32out-NN OUT s32: Integer output from ClassicLadder. These s32 signal pins map to %QWNN variables in ClassicLadder.
classicladder.0.floatin-NN IN float: Integer input from ClassicLadder. These float signal pins map to %IFNN variables in ClassicLadder. These are truncated to S32 values internally. eg 7.5 will be 7.
classicladder.0.floatout-NN OUT float: Float output from ClassicLadder. These float signal pins map to %QFNN variables in ClassicLadder.
classicladder.0.hide_gui IN bit: This bit pin hides the ClassicLadder window, while still having the userspace code run. This is usually desirable when modbus is used, as modbus requires the userspace code to run.

PARAMETERS

classicladder.0.refresh.time RO s32: Tells you how long the last refresh took.
classicladder.0.refresh.tmax RW s32: Tells you how long the longest refresh took.
classicladder.0.ladder-state RO s32: Tells you if the program is running or not

FUNCTIONS

classicladder.0.refresh FP: The rung update rate. Add this to the servo thread. You can added it to a faster thread but it. Will update no faster than once every 1 millisecond (1000000 ns).

BUGS

See http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadder_Ver_7.124 for the latest.