IOC-7007
Ethernet I/O Controller
Application Programming
The IOC-7007 command language is similar to the command language
of Galil motion controllers, but the motion-specific commands are
removed and additional I/O commands added.The language is com-
prised of intuitive, two-letter English-like ASCII commands designed
to make programming as quick and easy as possible. For example, the
command "SB1" sets output bit 1 and "CB1" clears output bit 1.The
complete set of commands is described in the Command Table.
Like all Galil motion controllers, the IOC-7007 has the ability to store
and execute complex application programs designed by the user. Such
application programs can be downloaded directly to the controller and
executed without host intervention. Special commands are available for
application programming including event triggers, conditional jumps,
IF/THEN/ELSE statements, subroutines, symbolic variables and arrays.
The IOC-7007 permits multitasking, which allows up to eight applica-
tion programs to execute simultaneously. An additional task can be exe-
cuted in a special PLC mode which is described in the next section.
Example
the PLC mode are designated in bold in the command list.Variables and
arrays are also available in the PLC mode.The CP command compiles
the PLC program and the PLC program is executed with the XP com-
mand. Precisely the same number of PLC commands are executed per
update period which allows for deterministic timing.
Example
INSTRUCTION
INTERPRETATION
#TASK1
Task1 label
XQ #TASK2,1
Execute Task2 in thread 1
WT20000
Wait for 20 seconds
HX1
Stop thread 1
MG"DONE"
Print Message
EN
End of Program
#TASK2
Task2 label
AT0
Initialize reference time
CB1
Clear Output 1
#LOOP
Loop label
AT 10
Wait 10 msec from reference time
SB1
Set Output 1
AT -40
Wait 40 msec from reference time,
then initialize reference
CB1
Clear Output 1
JP #LOOP
Repeat Loop
EN
End task
INSTRUCTION
INTERPRETATION
#PLCSCAN
PLC special label
IF (@IN[5]=1)
If Input 5 equals one
CB1
Clear Output 1
ELSE
If Input 5 equals 0
SB1
Set Output 1
ENDIF
Terminate IF statement
EN
End PLC program
Specifications
System Processor
Motorola 32-bit microcomputer
Communications Interface
Ethernet 10/100BASE-T and RS232 port up to 19.2K baud
Memory
Program--500 lines
×
80 characters
Variables--126
Array--2000 array elements in up to 14 arrays
Power Requirements
AC option (BOX version only):90260 VAC 50/60 Hz
DC option (BOX, DIN, CARD):20 60 VDC input
Mechanical
IOC-7007 board:10.75"
×
4.25"
IOC-7007-box:10.8"
×
4.5"
×
2.6"
IOC-7007-DIN:fits standard DIN mount
IOM modules:1.8"
×
3.2"
IOM Electrical Specifications
IOM-70016:16 TTL inputs, 4.7k ohm pull-up
IOM-70108:8 optoisolated inputs, 2.2k pull-up for 5 V in,10k for 24 V in
IOM-70208:8 optoisolated outputs, 24 V @ 25 mA each
IOM-70308:8 low-side, high-power outputs, 24 V @ 100 mA each
IOM-70508:8 high-side, high-power outputs, 55 V @ 500 mA each
IOM-70404:4 dry contact relays, 150 V @ 250 mA each
IOM-70808:8 analog inputs, 12-bits standard
IOM-70904:4 analog outputs, 12-bits standard
IOM-70908:8 analog outputs, 12-bits standard
PLC Mode
The PLC Mode is a special mode of operation that allows fast execution
of an application program.The program is compiled into optimized
code for faster execution with deterministic timing.This feature pro-
vides quick and accurate I/O scans.
The special PLC application program is designated with the label
#PLCSCAN. All commands following the #PLCSCAN label are part of
the program. A subset of Galil commands that are available for use in
CONTROLLERS
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ETHERNET
54
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Galil Motion Control, Inc.
