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uPLC
Introduction
The internal u-PLC is used to connect the external world (inputs/outputs) with the world of the parameters of the integrated drive NLi linear motor. The PLC can be used to copy digital input to a binary parameter, to copy a binary parameter to a digital output and to execute mathematical and Boolean operations. The PLC program must be inserted as a list of instructions by using the keyboard or by the serial line using a PC and an interface program. A PLC program written to meet the needs of a large number of applications corresponds to the default parameters. In most cases it is not necessary to program the PLC itself. The main features of the uPLC are:
- 64 program steps
- 6msec of fixed scanning time
- 2 timers
- 15 different instructions
- stack depth equal to 1
- mathematical operations 16 / 32 bits
uPLC feature is available using Firmware version >= 5E41
Please note that when the uPLC is running the 3 digital ouputs are under control of the PLC program !
So, the PLC program can associate every events to these 3 digital outputs instead of the standard options.
PLC instructions
| Symbol | Instruction | Parameter | Comment |
 | LD | Pa,y | loads the y bit of the Pa parameter on the stack |
 | LDn | Pa,y | loads the negated y bit of the Pa parameter on the stack |
 | OUT | Pa,y | sets the y bit of the Pa parameter to the value loaded on the stack |
 | OUTn | Pa,y | places the y bit of the Pa parameter to the value of stack negating it |
 | SET | Pa,y | if the stack = 1, the y bit of the Pa parameter is set to 1 |
 | RES | Pa,y | if the stack = 1, the y bit of the Pa parameter is set to 0 |
 | AND | Pa,y | if the bit loaded on the stack contains the result of the logical AND operation between itself and the y bit of the Pa parameter |
 | ANDn | Pa,y | the bit of the stack contains the result of the logical AND operation between itself and the y bit of the negated Pa parameter |
| OR | Pa,y | the bit loaded on the stack contains the result of the logical OR operation between itself and the y bit of the Pa parameter |
| ORn | Pa,y | the bit on the stack contains the result of the logical OR operation between itself and the y bit of the negated Pa parameter |
 | ADD | Pa,Pb,Pc | if the bit on the stack = 1, the addition operation is executed on the parameters in which: Pc = Pa + Pb |
 | SUB | Pa,Pb,Pc | if the bit on the stack = 1, the subtraction operation is executed on the parameters in which: Pc = Pa – Pb |
 | MUL | Pa,Pb,Pc | if the bit on the stack = 1, the multiplication operation is executed on the parameters in which: Pc = Pa ⋅ Pb |
 | DIV | Pa,Pb,Pc | if the bit on the stack = 1, the division operation is executed on the parameters in which: Pc = Pa / Pb. If Pb is equal to 0 the division operation is not executed |
 | END | end of program |