CLASSICLADDER
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]
DESCRIPTION
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-N IN bit
These bit signal pins map to %INNN variables in classicladder
classicladder.0.out-N OUT bit
These bit signal pins map to %QnNN variables in classicladder Output from classicladder
classicladder.0.in-N IN s32
Integer input from classicladder These s32 signal pins map to %IWNNN variables in classicladder
classicladder.0.out-N OUT s32
Integer output from classicladder These s32 signal pins map to %QWNNN variables in classicladder
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).
SEE ALSO
Classicladder chapters in the Machinekit documentation for a full description of the Classicladder syntax and examples