KUKA E93DA113I4B531伺服模塊,KSD1-32使用教程
COMMREQ梯形圖指令有四個輸入和一個輸出：COMMREQ梯形圖指令啟用輸入：必須為邏輯1才能啟用COMMREQ指令。建議：啟用邏輯是過渡（“一次”）線圈的觸點。IN：命令塊第一個字的內存位置。它可以是任何有效的字型內存中的地址（%R、%AI或%AQ）。例如，%R00100 at IN將指示命令塊的起始地址為%R00100。SYSID：一個十六進制值，給出所需模塊的機架和插槽位置COMMREQ正在定位。
KUKA E93DA113I4B531伺服模塊高位字節（十六進制數的前兩位）包含機架號，低字節包含插槽號。下表顯示了一些SYSID示例：當激活COMMREQ梯形圖指令時，啟動通信請求在PLC掃描期間。此時，來自PLC的命令通過通信請求發送至PROFIBUS主模塊（PBM）。在每個請求結束時，PLC CPU將請求的狀態報告給狀態字，是PLC內存中由狀態字指定的位置命令塊中的指針。在上圖中，PBM顯示在CPU機架中，通信發生在PLC背板。如果PBM位于擴展機架或遠程機架中，則命令數據通過擴展電纜或遠程電纜通過CPU機架的背板發送連接到包含PBM的機架，并穿過該機架的背板連接到PBM。 COMMREQ指令應通過過渡線圈的觸點啟用。
如果在梯形圖程序中使用多個COMMREQ，請驗證之前的COMMREQ在執行另一個命令之前已成功執行。這是可以做到的通過檢查狀態字和FT（故障）輸出。
如果啟用輸入未激活，則FT輸出保持為假。這意味著如果COMMREQ由一個過渡（單次）觸點啟用，當故障發生時，FT僅一次PLC掃描的輸出高。為了捕捉故障發生的事實，您需要可以將故障輸出編程為設定線圈，在掃描結束。然后需要額外的邏輯來重置故障輸出線圈
確認故障后，在下一次執行COMMREQ之前。
The COMMREQ ladder
instruction has four inputs and one
output:
Figure 4-1. COMMREQ Ladder Instruction
Enable Input: Must be Logic 1 to enable the COMMREQ Instruction. It is recommended that
the enabling logic be a contact from a transition (“one-shot”) coil.
IN: The memory location of the first word of the Command Block. It can be any valid
address in word-type memory (%R, %AI, or %AQ). For example, %R00100 at IN would
indicate that the starting address of the Command Block is %R00100.
SYSID: A hexadecimal value that gives the rack and slot location of the module that the
COMMREQ is targeting. The high byte (first two digits of the hex number) contains the
rack number, and the low byte contains the slot number. The table below shows some
examples of SYSIDs:A Communications Request is initiated when a COMMREQ ladder instruction is activated
during the PLC scan. At this time, a command from the PLC via the Communications
Request is sent to the PROFIBUS Master module (PBM).
At the conclusion of every request, the PLC CPU reports the status of the request to the
Status Word, which is a location in PLC memory that is designated by the Status Word
Pointer in the Command Block.
In the figure above, the PBM is shown in the CPU rack and communications occur over
the PLC backplane. If the PBM is located in an expansion or remote rack, the commands
and data are sent over the CPU rack’s backplane, through the expansion or remote cable
to the rack containing the PBM, and across that rack’s backplane to the PBM. COMMREQ instructions should be enabled by a contact from a transition coil.
