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J-3675-6, AutoMax Enhanced BASIC Language

1. END_IF 2100 DELAY 10 TICKS GOTO 2000 32767 END 6 29 6 30 Configuring and Using PORT B For port B you must use the OPEN statement in a task to allocate the port before the task can communicate through the port even if the default port setup and baud rate are acceptable for your application If the default setup or baud rate are not suitable for your application use the following OPEN statement format to temporarily allocate the port for EXCLUSIVE access to change the default setup or baud rate This changes the default characteristics of the port until the next power cycle or Stop All Clear occurs Use the CLOSE statement to de allocate the port The CLOSE statement must follow the OPEN statement with no intervening INPUT PRINT GET or PUT statements The CLOSE statement must use the same device number assigned in the OPEN statement OPEN PORTB AS FILE logical device number SETUP specs baud rate amp CLOSE Zlogical device number Note When an OPEN statement has a setup parameter the port is opened with EXCLUSIVE access Therefore specifying ACCESS NON EXCLUSIVE causes a compile error to be logged A second OPEN statement must be added after the port is closed as shown below If the default or configured port setup and baud rate are proper for your application use the following OPEN statement format to allocate the port for NON EXCLUSIVE access so the task can communicate through the port The port
2. 0 0 cece eee ees 3 3 Variables and Constants s sees 4 1 4 Variables eurem bre ERR rer Rao RO 4 1 41 1 Simple Variables rere RR we RR E Yee 4 1 4 1 1 1 Single Integer Variables 000005 4 2 4 1 1 2 Double Integer Variables Long Integers 4 3 4 1 1 3 Real Variables mmn 4 3 4 1 1 4 Boolean Variables 0 cece 4 4 4 1 1 5 String Variables suunnan aaa 4 4 4 1 2 Subscripted Variables Arrays 0 00 cere eee 4 4 4 1 8 Variable Control Types 00s cece ete eee ees 4 6 4 1 4 Pre defined Common Memory Variables 4 8 4 2 Constants sicco ze Peri RERE donnes decay 4 8 4 241 Integer Constahls eorr ERR qe e pere ee 4 8 4 2 2 Hexadecimal Constants eee eee eee 4 9 4 2 3 Real Constants 050 cece beeen ees 4 10 4 2 4 String Constants 0 0 00 4 10 4 2 5 Boolean Constants cc cece eee 4 11 Expressions cece eee cece cece IH 5 1 5 1 Arithmetic Expressions i2 css sse rem eee eg 5 1 5 2 String Expressions 0 cece eee 5 3 5 3 Boolean Expressions 0 csse esee s 5 4 5 4 Relational Expressions sssssssesesreeeeenn 5 6 5 5 Mixed Mode Integers and Reals Arithmetic 5 7 AutoMax Enhanced Basic Statement Types 6 1 6 1 Defining Variable Control 1 0 0 0 cece eee 6 1 6 1 1 LOCAL Statement eoo pesi MD RES ER 6 1 6 1 2 COMMON Stat
3. 2 ENI not initialized 15 Bad socket number 28 Socket closed by destination For example STATUS SHUTDOWN SOCKET NUM 6 Appendix A Converting a DCS 5000 BASIC Task to AutoMax You can easily convert any DCS 5000 Version 4 task to AutoMax Simply re compile the task using the AutoMax Executive Programming software Refer to J 3684 the ReSource AutoMax Programming Software instruction manual for more information on compiling a BASIC task Converting a Version 1 0 BASIC Task to Version 2 0 You can easily convert any AutoMax Version 1 0 BASIC task created with M N 57C304 57C307 Executive software to run in a 2 0 M N 57C390 57C393 system Simply re compile the task using AutoMax Executive Programming software V 2 0 M N 57C390 57C393 Refer to J 3684 for more information on compiling a BASIC task Converting a Version 2 0 BASIC Task to Version 3 0 You can easily convert any AutoMax Version 2 0 BASIC task created with M N 57C390 57C393 Executive software to run in an AutoMax V3 system Simply copy the task into AutoMax V3 using the AutoMax Executive Programming software V 3 0 M N 57C390 57C393 and then re compile the task Refer to J 3750 for more information on copying and compiling a BASIC task A 1 Appendix B BASIC Compiler and Run Time Error Codes The following error codes are displayed on the screen when tasks are compiled Control Block Error Codes BASIC Compiler 257 Bad control block statement fo
4. 7 31 7 32 7 33 ROTATER Function Format ROTATER variable rotate count where variable is a single or double integer variable or expression rotate count is the number of bit positions to rotate the integer expression 0 to 15 single integer 0 to 31 for double integer This function returns an integer value equal to the integer expression that was input rotated the specific number of binary places to the right Bit O wraps around to bit 15 or bit 31 if double integer For example SWAP 4 196 ROTATER INPUT_CARD 4 In this example a 16 bit value is read from an input module and bits 4 to 15 are rotated into bit positions 0 to 11 Bits 0 to 3 are rotated into bit positions 12 to 15 BCD_OUT Function Format BCD_OUT variable where variable is a single or double integer variable or expression variable value lt 9999 decimal This function returns an integer value equal to the integer expression that was input with each decimal digit converted to a hexadecimal 4 bit binary equivalent opposite of the BCD IN function SWITCH_VALS 2156 OUTCARD_CARD BCD_OUT SWITCH_VALS In the above example the decimal value 2156 is converted to a 16 bit hexadecimal value equal to 2156H hex If the value input to BCD_OUT is greater than 9999 decimal the output will be hex 9999H and an error will be logged The same is true if the input number is negative the output will be 0000H hex
5. Appendix D BASIC Language Statements and Functions Supported in UDC Control Block Tasks Appendix E AutoMax Processor Compatibility with Versions of the AutoMax Programming Executive Appendix F New Features in this Release Compatibility with Earlier Versions Version 2 0 of the AutoMax Programming Executive requires AutoMax Processor M N 57C430A or 57C431 Version 3 0 and later require AutoMax Processor M N 57C430A 57C431 or 57C435 M N 57C430 cannot co exist in the same rack with M N 57C430A 57C431 or 57C435 Refer to Appendix E for a listing of the AutoMax Processors that are compatible with Version 2 and later of the AutoMax Programming Executive software The thick black bar shown at the right hand margin of this page will be used throughout this instruction manual to signify new or revised text or figures 1 1 1 2 1 2 1 3 Additional Information You should be familiar with the instruction manuals which describe your system configuration This may include but is not limited to the following e J 3618 NORTON EDITOR REFERENCE MANUAL e J 3649 AutoMax CONFIGURATION TASK INSTRUCTION MANUAL e J 3650 AutoMax PROCESSOR INSTRUCTION MANUAL e J 3676 AutoMax CONTROL BLOCK LANGUAGE INSTRUCTION MANUAL e J 3677 AutoMax LADDER LOGIC INSTRUCTION MANUAL e J2 3018 AutoMax Remote I O Shark Interface Instruction Manual e J2 3093 AutoMax Ladder Language Editor e J2 3094 AutoMax Enhanced Ladder Language e Your
6. address double integer variable name or expression defining the destination address literal or expression must be gt 220000H 6 41 6 8 6 6 8 7 6 42 Note that all task to task communication information is managed by the system on the Common Memory module M N 57C413 GET Statement The GET statement is used to input a single character from a device not a channel The GET statement has the following format GET logical device number string variable where logical device number the logical number assigned to a device during an OPEN statement If no device number given the default device is PORTA on the Processor module on which the task resides string variable a variable of data type string only The GET statement reads a single character from a device and loads the character into a string variable The character is NOT echoed to the device as it is with an INPUT operation The optional parameter EMPTY n can be used to transfer control of the program in the event that the channel is empty The parameter is added immediately after the device number n is the line number to which to transfer control The following are valid GET statements 20 GET 2 A 30 GET A 40 GET 4 EMPTY 50 CHAR Refer to the OPEN statement description 6 8 1 for more information on how the GET statement is used with the OPEN statement PUT Statement The PUT statement is used to output a single character from a d
7. A lt gt B OR GAIN gt 3 58867 OR FAULTS 0 MESSAGE SYSTEM DOWN SPEED gt OLD_SPEED 23 8876 GAIN Since the result of a relational expression is a true or false value boolean result several relational sub expressions may be combined by using the boolean operators AND OR and XOR The following are statements using relational expressions 10 IF A gt B THEN 200 10 IF SPEED lt 32 887 AND SECTION 5 on THEN GOSUB 12000 10 IF SYSTEM STOPPED OR FAULTS OR ROLL WIDTH 6 23 THEN 240 Mixed Mode Integers and Reals Arithmetic In performing mixed mode arithmetic expressions in which integers and reals are intermixed BASIC must always convert the integer value to a real or decimal number internally to be able to operate on the two quantities The integer must be converted to a real to maintain the maximum amount of precision possible Converting the real to integer and doing all integer arithmetic obviously is not feasible because all the fractional parts would be lost A 2 37764 4 should result in 6 37764 not 6 This integer to real conversion happens only however at the point where the integer value or sub expression value is combined with a real value in an operation When BASIC evaluates an expression it follows certain rules which determine the order of evaluation in the expression When using mode arithmetic use caution to assure the desired results If there are integer parts
8. Any combination of the above variable types is permitted however a PRINT to or INPUT from this specific channel must always pass the same number and type of variables and in the same order that the type field specifies depth how many messages this channel can hold before it is considered full this value must be an integer constant or expression specified only for the OPEN CHANNEL statement in the task that is reading from the channel The task that is reading data i e that contains the OPEN CHANNEL FOR INPUT statement creates the channel If a task that is writing data to a channel runs before the task that is reading data from the channel the task writing data is suspended until the task that is reading data runs If a task tries to write data to a channel that is full has reached the maximum DEPTH then that task will be suspended until one of the queued messages is read by the task reading from the channel If a task attempts to read from a channel which is empty that task will be suspended until a message has been placed in the channel Note that the INPUT statement has a parameter EMPTY that allows the task reading from the channel to transfer control to another line if the channel is empty The PRINT statement has a parameter FULL that allows the task writing to the channel to transfer control to another line if the channel is full Reading and writing to a channel can be used to synchronize activities between two o
9. These are the assignment operation the concatenation addition of strings operation and the equality inequality comparison operations lt gt or gt lt By using the assignment operator you can equate or assign one string variable or constant to another string variable In the statement below the character sequence THIS IS A MESSAGE is assigned to the string variable C C THIS IS A MESSAGE The concatenation operator combines string variables and constants to form a new string expression C HI B D STRING 5 3 5 4 5 3 The relational operators 2 and lt gt or gt lt are used when there is a relational or comparison expression such as that found in an IF statement The statement below tests the value of the boolean which is the result of the string comparison If the result is true and the two strings are not equal lt gt the program transfers control to line 250 The relational operator is used in the same way to test strings 20 IF C lt gt MESSAGE THEN GOTO 250 When strings are concatenated added and the result is stored in a string variable A B TEXT the resultant length of the computed string expression still must not exceed the maximum length for a string 255 characters if specified in the variable definition 31 as a default if no size is specified If it is longer than the maximum it is truncated to
10. This priority tells BASIC when to evaluate the operator in relation to the other operators in the same expression Refer to table 5 2 Table 5 2 Relative Precedence of Arithmetic Operators 1 Highest evaluated first Unary minus Unary plus Exponentiation E Divide 5 Lowest evaluated last Subtract mae tie Operators shown on the same line have equal precedence BASIC evaluates operators of the same precedence level from left to right Note that BASIC evaluates A B C as A B C In the case of nested parentheses one set of parentheses within another BASIC evaluates the innermost expression first then the one immediately outside it and so on The evaluation proceeds from the inside out until all parenthetical expressions have been evaluated For example in the expression B 25 16 9 2 9 2 is the innermost parenthetical expression and BASIC evaluates it first Then it calculates 16 81 and finally 25 1296 5 2 5 2 BASIC evaluates expressions enclosed in parentheses before the operator immediately outside the parentheses even when the operator enclosed in parentheses is on a lower precedence level than the operator outside the parentheses In the statement A B C D BASIC evaluates the C D first and then multiplies B by the result of C D BASIC will still evaluate other expressions before those in parentheses if the other expressions come first in the stateme
11. bit_number is the bit number within the variable to test 0 to 15 if single integer 0 to 31 if double integer variable 7 28 option defines the change to be made to the bit and may be an integer or boolean expression This function tests the variable as specified by the bit number Based on that value the bit within the variable will be modified 0 Unconditionally clear the bit set to 0 1 Unconditionally set the bit to 1 2 If the bit is already zero set it to 1 3 If the bit is 1 clear the bit set to 0 The function itself is a boolean function and not an integer function Therefore the value that it returns is not the updated value of the variable modified but the status of the bit change operation The return status of the function is TRUE if the requested bit change operation was completed or FALSE if the requested bit change operation was not completed Two conditions will stop a request from being completed The first is that the variable is in a forced condition and the bits cannot be modified The second is that the requested change is already the current state of the bit If the request is to clear a bit if it is set and the current state of the bit is already cleared the function status will be FALSE because the operation was not completed i e there was no need to make the change This tells the user the state of the bit prior to the bit modify operation Unless the variable is forced options 0 and 1
12. str length is the number of characters to take from the right side of the string expression in parameter 1 The function returns a substring that is equal to str length parameter 2 of the right most characters of the string or string expression parameter 1 SUB STRING RIGHT ABCDEFG 4 SUB STRING has the value DEFG STR1 12345 SUB STRINGS RIGHT STR1 ABC 6 SUB STRINGS has the value 345ABC MID Function Format MiD string start end where string can be a string variable or expression start is the starting character position of the substring end is the ending character position of the substring The function returns a substring from within another string The three parameters are respectively the string to operate on the starting character position and the ending character position The substring is then taken from those two inclusive positions SUB STRING MID ABCDEFG 2 3 SUB STRING has the value BC STRING BIGLONGSTRING SUB_STRING MID STRING 3 7 SUB STRING has the value GLONG VAL Function Format VAL string where string can be a string variable or expression The function returns the integer value of a string in an integer format If the string is not in an integer format the returned value will be zero and an error is logged STR_VAL VAL 123 74 STR_VAL has the value 12374 7 19 7 20 7 21 VAL Function
13. 24 bits can t be accurately converted to real 290 Invalid value for Max Input 291 More than 1 SCAN LOOP call in a control block task 292 Fast floating point overflow 293 Fastfloating point underflow 294 Fastfloating point divided by zero 295 Meaningless tangent argument 296 Minimum number of inputs or outputs not programmed B 1 B 2 297 298 299 300 301 302 303 304 305 Invalid data type for variable in Control Block Parameter keyword previously defined in Control Block Data structure symbol name too long Data Structure requires more than maximum storage Number of inputs outputs greater than data structure definition Duplicate definition or incorrect data structure type Invalid Control Block Mode specified Bad NOTCH bock Q FACTOR value Bad NOTCH block WN value IODEF RIODEF NETDEF RNETDEF MODDEF Error Codes 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 Bad IODEF statement format IODEF address must not be odd Bad IODEF variable type IODEF hex address too large Invalid bit number specification in RIO NET DEF Invalid literal in RIO NET DEF Missing master slot specification in RIODEF Bad literal in IODEF Missing bit field specification Missing slot specification Bad RIO NET DEF statement format Missing drop specification Bad MODDEF statement format Bad GATEWAY register specification Bad RNET
14. Format VAL string where string can be a string variable or expression The function returns the real value of a string in a real format If the string is not in a real format the returned value will be zero and an error is logged STR VAL VAL 9 8827 STR VAL has the value 9 8827 FIX Function Format FIX expression where expression can be a real variable or real expression The function returns the whole part of a real or decimal number REAL VAL 87 88763 WHOLE PART FIX REAL VAL WHOLE PART HAS THE VALUE 87 00 CURPOS Function Format CURPOSS row column where row and column are integer variables or expressions that represent a cursor location on the screen of a VT100 compatible terminal 1 to 24 rows inclusive and 1 to 132 columns inclusive CURPOSS returns an ASCII string or escape sequence This function is used in combination with a PRINT statement to position the cursor at a specific location on the screen specified by row and column for a device that recognizes the ANSI standard cursor position escape sequence ESC row col H ROW 10 COL 4 HEADING TABLE 1 PRINT CURPOS ROW COL HEADING Prints TABLE 1 at cursor position 10 4 When using the CURPOS function with the PRINT statement a semicolon should always be located in front of the function call to tell BASIC not to put the string generated by the function call in a zoned field a field that is a mul
15. GATEWAY_CMD_OK status cmd code slave drop amp Slave reg master var num regs where status is an integer variable representing the location where the resulting command status is stored status will contain a zero if the transfer operation is successful and an error code if it is unsuccessful The error code is dependent on the module used See the instruction manual for the specific Interface module for the error codes cmd code is a variable name or expression of type integer representing the command sent to the Interface module the commands available are specific to each interface module See the instruction manual for the specific Interface module for the available commands slave drop is a variable name or expression of type integer representing the device address e g node number of the hardware the Interface module is communicating with 7 15 7 36 7 16 slave reg is a variable name or expression of type string representing the starting register in the device that is to be read from or written to The format of this parameter is dependent on the module used See the instruction manual for the specific Interface module for the correct format master var is a variable name or expression of type double integer representing the actual hexadecimal address of the first location that is to be read from or written to in the Interface module See below for more information num regs is variable name or expression of ty
16. Take for example the following real constant example 1234 5678E 11 The E is a real constant which means times ten to the followed by the power or exponent In the real constant 34 99876E 07 the E means times ten to the 7th There must always be a number in front of the E when the E is used E 13 by itself is illegal Only 8 digits of significance are used to store the number The total number of digits on the left and right side of the decimal point must be less than or equal to 8 As with the real variable the real constant can have a value in the range 9 2233717 x 1018 positive value gt 5 4210107 x 10 20 9 2233717 x 1018 lt negative value lt 2 7105054 x 10720 All of the values listed below represent the number one hundred twenty 120 0000120 00 120E 03 120 1200000 00E 0004 0 000120E6 120 120E3 1200000E 4 String Constants String constants are sequences of alphanumeric and other printable characters Line terminators lt CR gt are not allowed String constants must be enclosed either in single or double quotes If one type of quotes is used in the sequence itself the other type must be used to enclose the sequence String constants may be up to 132 characters long A BASIC string prints every character between quotation marks exactly as you type it into the source program This includes the following 1 Letters A Z 2 Leading trailing and embedded spaces 3 Tabs 4
17. The following example defines a hardware event where slot 8 register 2 defines the address of an interrupt register on a resolver module in the main chassis Configuration task 10 IODEF RESOLVER INTREG 6 SLOT 28 REGISTER 2 BASIC task 10 COMMON RESOLVER INTREG 6 95 EVENT NAME MARKER PULSE amp INTERRUPT STATUS RESOLVER INTREG 6 amp TIMEOUT 100 255 IF CONSTANT SPEED 2 THEN amp WAIT ON MARKER PULSE The following example defines a software event for a local BASIC task 95 EVENT NAME SW EVENT1 255 IF CONSTANT SPEED THEN WAIT ON SW EVENT 1 6 18 6 6 2 Note that it is possible to disable the timeout period for a hardware event Disable the timeout for I O modules that unlike the Resolver module do not generate a periodic interrupt This format of the event definition should be used carefully since the timeout provides an extra level of protection in the event of a hardware failure The following is the alternate hardware EVENT NAME format EVENT NAME event_name amp INTERRUPT STATUS O_variable_name amp TIMEOUT DISABLED Example 10 COMMON IO_INT_REG 90 EVENT NAME HW_EV1 amp INTERRUPT_STATUS IO_INT_REG amp TIMEOUT DISABLED The format is identical to that for a hardware event except that the word DISABLED is entered in place of an integer constant for the timeout period The timeout field cannot be left off or set to zero 0 This forces the user to turn off the timeout by entering
18. cz cerre anrasin ved hewad be nae tee ede ede List of Tables Table 5 1 Arithmetic Operators ssas rearen 5 2 Table 5 2 Relative Precedence of Arithmetic Operators 5 2 Table 5 3 Truth Table for Boolean Operators 0 000 eee eee ee 5 5 Table 5 4 Relational or Comparison Operators sssse 5 6 1 0 1 1 INTRODUCTION The products described in this instruction manual are manufactured by Reliance Electric Industrial Company The AutoMax Programming Executive software includes the Software used to create and compile Enhanced BASIC programs This instruction manual describes AutoMax Enhanced BASIC language for Version 2 0 and later AutoMax Programming Executive software Features that are either new or different from those in the previous version of the AutoMax Programming Executive software are so noted in the text Appendix F lists the differences between versions of the software This instruction manual is organized as follows 1 0 Introduction 2 0 General information about programming for AutoMax systems 3 0 General information about programming in BASIC 4 0 Variables and Constants 5 0 Expressions 6 0 Statements 7 0 Functions 8 0 Ethernet Communication Functions Appendix A Converting tasks created with previous versions of the Executive software to the current version Appendix B BASIC compiler and run time error codes Appendix C Hardware Interrupt Line Allocation
19. the port 3 OPEN the port for NON EXCLUSIVE access in each task that needs access to the port Use the same device number to open the port in all tasks 4 Use INPUT PRINT GET and PUT statements with the device number used in the OPEN statement to access port B 5 Stop All Clear commands and power cycle close all ports Port characteristics are set to the OS default the user must set the port to the required characteristics Stopping a task does not change the port setup and baud rate Stopping a task that has EXCLUSIVE access to the port closes the port on the Processor 8 Stopping a task that has NON EXCLUSIVE access only disables access to the port for the task that was stopped The other tasks referencing the port can still transmit or receive data 9 The operating system does not de allocate the port make the port available for EXCLUSIVE access until all tasks referencing the port have closed the port 10 Port errors logged to task information for example Framing Overrun etc will close the port that logged the error 11 If the port is closed via CLOSE or error then port statements PRINT INPUT PUT and GET will fail They will log a Port Not Open properly error message and abort the operation No data will be sent for PRINT and PUT INPUT and GET will not suspend the task but will proceed to the next statement on the current line or next line number INPUT EMPTY and GET EMPTY will no
20. A 50 as a local variable in an application task will reserve space for 50 characters Note that if no length is specified the default length is 31 Subscripted Variables Arrays Array variables are used to store a collection of data all of the same data type Arrays are permitted for all data types Arrays are limited to four dimensions or subscripts The number of elements in each dimension is limited to 65535 This size is further limited by available memory The term array is used to denote the entire collection of data Each item in the array is known as an element Array variables are specified by adding a subscript s after the variable name which includes the appropriate terminating character to denote the type of data stored in the array The terminating character is followed by a left parenthesis or bracket the subscript s and a right parenthesis or bracket Multiple subscripts are separated by commas Note that subscripts can be integer constants as well as arithmetic expressions that result in integer values array variable name A 5 vi N subscript terminating character denotes variable type An array with one dimension i e one subscript is said to be one dimensional An array with two subscripts is said to be two dimensional etc The first element in each dimension of the array is always element 0 Therefore the total number of elements in each dimension of the array is always one more than the largest
21. ASCII as the terminating character you would open the device as follows OPEN PORTA AS FILE 2 SETUP OD3FH 1200 The same rules apply to inputs not terminated by a carriage return as to the disabled prompt input no error messages and all data must be entered at the same time Using a different terminator is more useful for those tasks communicating to other devices or computers where the data transmitted is not terminated with lt CR gt but another character This allows reading data from one of those devices without having to accumulate the characters one at a time with a GET statement Refer to the OPEN statement description 6 8 1 for more information on how the INPUT statement is used with the OPEN statement PRINT PRINT USING Statements The PRINT and PRINT USING statements are used to communicate with I O devices such as a personal computer or a line printer or another BASIC task The OPEN statement is used to select to which I O port the PRINT INPUT applies Refer to the OPEN statement description 6 8 1 for more information on how the PRINT statement is used with the OPEN statement The PRINT statement has the following basic format PRINT USING is defined separately in this section PRINT logical device number print list where logical device number logical number 1 to 255 assigned to a device or channel during an OPEN statement If no device number is given the default device is PORTA on the Pro
22. E Ra 7 5 7 16 RIGHTS F nction 2 zzpresxa acad Ree pha RP ue Ya Y Xe hae vex 7 6 7 7 MID F nctioni 2x nepePer vac eres eee de rescue qued 7 6 7 18 MAESG FUCHOR eire vh tpe Poen e a PR 7 6 LAD VAL FUNCTION 2 52 5 atre Re eR edema Dres gre doe 7 7 8 0 7 20 FIX FUNGON 25 cz xnd aycciavin kc cots pee dai aa erp e Scien a RT d e 7 7 7 21 CURPOSS Function sssssssssssese ee 7 7 7 22 CLRSCR Function 4rd tae ese veda PA EET 7 8 7 23 GLRLINES Function rrr ber pe X rem ee aes 7 8 7 24 JOREAD FUNCOM x rete tenerae ROT MPUPPIP d aue 7 9 7 25 BIT SET Q F hcliol eoe rere RR eee ORE rege 7 10 7 26 BIT_CLR Function ssssesssssse e 7 10 7 27 BIT MODIFY F nction vastes s eiiikickwoc e Ixgk gd xd ege 7 10 7 28 SHIFTL FUNCOM xa dot treo cte debian ned etos 7 11 7 29 SHIFTR Function 0 0 0 cee eh 7 12 7 30 ROTATEL FUNGON te eeaeee cece nae 7 12 7 31 ROTATER Function 0 ccc ccc cece eee eens 7 13 7 92 BCD QUT FUNGON wis cece puce cR pner ee er Pee 7 13 7 33 BCD IN96 Function cese er eee er re eda sais 7 13 7 34 BLOCK MOVEQ Function sess eee 7 14 7 35 GATEWAY CMD OKQ Function snusa eausa usana 7 15 7 36 VARPTR Function 6 ici coca eee hr ck a y RR ax nha 7 16 7 37 TEST_ERRLOG Function cece eee eee 7 17 7 38 READVAR Function 7 17 7 39 WRITEVAR Function 0 0 c ccc cece eh 7 18 7 40 FINDVAR Function 0 0 ccc cece cece e 7 19 7 41 CONVERT
23. FUNCOM 2 e e REED desea gy em de ess 7 19 7 42 RTS CONTROLQ Function 0 00 eee eee 7 20 TAS ALL SENT FUNCtHON say eee rere Seeker deat 7 21 7 44 WRITE TUNE Function 0 eee eee 7 21 Ethernet Communication Functions Luusesss 8 1 8 1 ENIUINIT96 FUNCOM sirige oiee e ee ees pee He DIIS S RS 8 1 8 2 SOCKET Function cec 0 ccc ccc katti tiatia 8 2 8 3 BIND FUNCION 2 oae babe ete ts sorsa oA ak ee Rs 8 2 8 4 CONNECT FunGHION degande da roei Eua ee oe bade vus 8 3 8 5 ACCEPT Function 00 ccc ccc n 8 4 8 6 SEND Function 0 ccc cence eee eens 8 5 8 7 SENDLSG FUNCHON 11 3 2 v bb ect sees DRE eR SOS 8 6 8 8 RECWV96 F nctlOli iuc pereoe repe We Mp Edad 8 7 8 9 REGVE G FUNCION cod ern bnc prPeryuekade mu per quens 8 8 8 10 SETSOCKOPT Function 00 cece eects 8 9 8 11 GETSOCKOPT Function 00 ccc cece eens 8 10 8 12 SHUTDOWN FunCHION osr xlemrizxiukmekeizgwakiv vs 8 11 Appendices Appendix A Converting a DCS 5000 BASIC Task to AutoMax Appendix B BASIC Compiler and Run Time Error Codes Appendix C Hardware Interrupt Line Allocation 000005 Appendix D BASIC Language Statements and Functions Supported in UDC Control Block Tasks 0 0 cece eens Appendix E AutoMax Processor Compatibility with Versions of the AutoMax Programming Executive 0 Appendix F New Feat les
24. ReSource AutoMax PROGRAMMING EXECUTIVE INSTRUCTION MANUAL e Your personal computer DOS and Windows instruction manuals e IEEE 518 GUIDE FOR THE INSTALLATION OF ELECTRICAL EQUIPMENT TO MINIMIZE ELECTRICAL NOISE INPUTS TO CONTROLLERS Related Hardware and Software The AutoMax Programming Executive software is used with the following hardware and software which is sold separately 1 M N 57C430A M N 57C431 or M N 57C435 AutoMax Processor 2 IBM compatible 80386 based personal computer running DOS Version 3 1 or later Version 4 0 and later Executive software requires an 80486 based personal computer or higher running Windows 95 3 M N 61C127 RS 232C ReSource Interface Cable This cable is used to connect the personal computer to the Processor module 4 M N 57C404A and later Network Communications module This module is used to connect racks together as a network and supports communication with all racks on the network that contain 57C404A modules through a single Processor module M N 57C404 can be used to connect racks on a network however you cannot communicate over the network to the racks that contain M N 57C404 Network modules You must instead connect directly to the Processors in those racks 5 M N 57C440 Ethernet Network Interface module This module is used to connect AutoMate Processors to TCP IP Ethernet local area networks 6 10 11 12 13 M N 57C413 or 57C423 Common Memory module This
25. Special characters V etc Note however that the actual BASIC string does not contain the delimiting quotation marks The following are valid string constants THIS IS A STRING CONSTANT SO IS THIS THIS IS A MESSAGE HERE IS A QUOTE FROM SOMEONE Note the embedded single quote HE SAID GOODBYE TODAY Note the embedded double quotes 4 2 5 The following are invalid string constants and the reasons that they are invalid WRONG TERMINATOR Surrounding quotes must be of same type SAME HERE Surrounding quotes must be of same type NO TERMINATOR No closing double quote The following are examples of valid string constants assigned to string variables and string constants used as intermediate values in expressions MESSAGES GEAR BOX FAULT MESSAGES SECTION 12 AIR PRESSURE SAFETY VALVE FAULT PART_MESSAGE LEFT SECTION 12 AIR PRESSURE SAFETY VALVE FAULT 12 Valid string constant not assigned to a variable directly but used an an intermediate value to a function PRINT SECTION 12 AIR PRESSURE SAFETY VALVE FAULT Valid string constant used in a print statement Boolean Constants With integers and strings a constant is used in initializing or assigning a value to a variable Boolean variables must be assigned the values of true or false The two boolean constants are TRUE or ON and FALSE or OFF The followi
26. by separating the variables with commas examples 10 COMMON SPEED 20 COMMON LIMIT START PROMPT COMMON Subscripted Array Variable Format COMMON variable size list where variable simple variable of any type i e double integer integer real string or boolean size list up to five integer constants or integer variables Separated by commas each value defining the limit of the dimension of the array expressions that result in integer values are also permitted see section 4 1 2 for more information about memory allocation for arrays note that the first item in every dimension is indicated in location 0 not 1 examples 10 COMMON A 10 reserves space for 11 integer elements 20 COMMON B 15 2 10 reserves space for 33 string elements of 15 characters each maximum Program Documentation BASIC allows you to insert notes and comments in a task BASIC provides two statements for this purpose the REM and statements REM comment OR comment where comment any text The format is interchangeable with the REM format for a comment however the statements are treated differently by the compiler The format comments are downloaded with a task onto the Processor module Consequently when that task is uploaded to the operator s terminal at a later time the comments can be reconstructed along with the other program statements When the REM format comments are compiled they are discarded and
27. control back to the statement immediately following the calling GOSUB statement A subroutine called by a GOSUB must exit by a RETURN statement The RETURN statement has the following format RETURN When BASIC executes a GOSUB it stores the return location of the statement following a GOSUB Each time a GOSUB is executed BASIC stores another location Each time a RETURN is executed BASIC retrieves the last location and transfers control to it In this way no matter how many subroutines there are or how many times they are called BASIC always knows where to transfer control 100 IF MOTOR SPEED 6 JOG SPEED 6 THEN 80 110 GOSUB 200 120 130 140 200 THIS IS A COMMENT 210 MOTOR SPEED MOTOR SPEED GAIN 2 290 RETURN The ON GOSUB statement has the following format ON integer expression GOSUB line number 1 line number N where integer expression any arithmetic expression that results in an integer value line number 1 line number N line numbers to which control is transferred depending on the evaluated expression Line numbers always correspond to the value of the expression The value 1 transfers control to the first line number listed The value 2 transfers control to the second line number listed etc There is no corresponding line number for zero 0 Fractional numbers are truncated to an integer value If no corresponding line number exists for the result of the integer expression co
28. first and then printed The number of items and their data types used in a print or input to a channel must match the OPEN CHANNEL definition otherwise an error will occur A CLOSE statement is not used with a channel because once it is opened it remains open There is no provision to open and then close channels Real Time Enhancements BASIC provides two statements that allow specified sections of tasks to be executed at a known time 1 DELAY statement 2 START statement DELAY Statement The DELAY statement provides for a simple time delay in a task The following is the DELAY statement format DELAY n time units where n any arithmetic expression or constant that evaluates to an integer result time units unit of time to be delayed The possible time units for both the DELAY and the START statement are TICKS SECONDS MINUTES and HOURS The tick rate is user definable for each Processor being used The range is 0 5 milliseconds to 10 milliseconds The default tick rate is 5 5 milliseconds The plural form of the time unit must always be used even when referring to one unit e g DELAY 1 HOURS The following are valid DELAY statements 30 DELAY 255 TICKS 80 DELAY OLD_TICKS 2 5 SECONDS 15 DELAY 1ST_SHIFT_LNG HOURS 40 DELAY 1 HOURS In each of the above examples when the DELAY statement executes the task will be suspended at that point for the specified amount of time and then be eligible to run when t
29. information see the instruction manual for each specific Interface module VARPTR Function Format VARPTR variable where variable is a common boolean single bit integer 16 bits or double integer 32 bits defined in the configuration as the 7 37 7 38 actual physical address of the first location on the Interface module from or to which data is to be read or written This function is usually used in conjunction with the GATEWAY CMD OK function It returns the actual address in hexadecimal format of the bit integer or double integer which represents the first location on the Interface module to which or from which data is to be transferred TEST ERRLOGQ Function The function TEST ERRLOGQ tests the state of the error log maintained for the application task by the Programming Executive software This error log can be accessed through the On Line menu of the software The function TEST ERRLOG Q provides a method of checking the error log while the application task is running This function is cleared with CLR ERRLOG see 6 9 3 Note that for Version 3 3A and later of the Programming Executive software this function can be entered as TEST ERRLOGQ or TST_ERRLOG Format TEST_ERRLOG variable where variable is an integer variable only used to store the number of errors logged 1 to 3 for the task If there are no errors logged the result of the boolean function is FALSE and the number parameter is
30. integer type hexadecimal is also considered integer 7 3 7 10 7 11 7 12 7 4 The function returns a string character corresponding to the decimal ASCII value of the input expression STRINGS CHR 41H STRINGS is loaded with A STRINGS CHR 30H STRINGS is loaded with 0 STRINGS CHR 2AH STRINGS is loaded with ASC Function Format ASC string where string can be a string variable or string expression The function returns the ASCII value of a single string character the opposite of the CHR function STRING 5 NUMBER ASC STRING VUMBER has the value 35H LEN Function Format LEN string expression where expression must be of string type The function returns the length of the string expression STR_LEN LEN STRING STR_LEN is loaded with 6 STR1 AVCDFG STR_LEN LEN STR1 23 STR LEN is loaded with 8 STR Function Format STR expression where expression must be of numeric integer or real type The function returns a string of characters from a numeric expression STRING STR 1224 STRINGS is loaded with 1224 NUM1 32 STRING STR NUM1 3 STRINGS is loaded with 96 STRING STR 388 73612 STRINGS is loaded with 38873612E03 7 13 7 14 7 15 In the last example the format of the real number returned as a string is the same number but in a different representation All r
31. is based on how long the task runs after the START is encountered and before an END statement is executed Consider the following example 10 20 200 START EVERY 20 TICKS This body of the pro gram will be eligible to run every 20 ticks starting after the START 850 END EVERY statement The DELAY statement tells the operating system to stop the task where it is and continue running it after a certain length of time The START EVERY statement effectively defines for the operating system a re start point and a time interval The operating system will automatically start the task at the next statement after the START EVERY when that time period expires The execution time required for program body between the START EVERY and the END statements must not be longer than the specified time period or an overlap error will occur By using the START EVERY statement the programmer can program tasks to be scanned at a certain frequency enabling him to do the slower control loop functions in BASIC if he desires However BASIC may be too slow to accommodate some high speed control requirements For most applications Control Block language should be used For more information refer to the AutoMax Control Block Language Instruction Manual J 3676 6 23 6 8 6 8 1 6 24 Communication Capabilities BASIC communicates with other processing elements in a system including operator s terminals and other application tasks using the follow
32. is used to access I O from foreign modules that are byte accessible only The function returns an integer value Format IOREAD option address where option is an integer variable or expression that defines the type of read operation to perform option 1 byte read option 2 double byte read address must be even address MSB address 1 LSB This option is used to read from foreign I O modules that only support an 8 bit data path option 3 word read address MSB address 1 LSB The 16 bit word is read from the designated address This option reads data from modules that support AutoMax addressing and data conventions option 4 long word read address MSB address 1 next 8 bits address 2 next 8 bits address 3 LSB address is a double integer variable or expression that contains the address from where data is to be read the address must be gt 220000H See J 3649 J 3750 or J2 3045 for more information on accessing foreign I O 7 9 7 25 7 26 7 27 7 10 BIT_SET Function Format BIT_SET variable bit number where variable is a single or double integer variable bit number is the bit number within the variable to test 0 to 15 for single integer 0 to 31 for double integer This function tests the value of a bit within the variable as specified by the bit number If the bit is set to a value of one 1 the boolean result of the function is TRUE If t
33. module is used when there is more than one Processor module in the rack M N 57C492 Battery Back Up This unit is used when there is a M N 57C413 Common Memory module in the rack M N 57C384 Battery Back Up Cable This cable is used with the Battery Back Up unit M N 57C554 AutoMax Remote I O Shark Interface Module This module is used to connect a Shark remote rack to the AutoMax Remote I O network B M 57552 or B M 57652 Universal Drive Control module This module is used for drive control applications M N 57C560 AutoMax PC3000 Processor Scanner module This module is a full size ISA module that mounts in the personal computer M N 57C565 AutoMax PC3000 Serial Interface module This module is a full size ISA module that mounts in the personal computer M N 57C570 Industrial AutoMax PC300 This unit consists of a panel mount industrial grade enclosure containing an AutoMax PC3000 Processor Scanner module an AutoMax PC3000 Serial Interface Module and a power supply 1 8 2 0 PROGRAMMING FOR 2 1 AutoMax SYSTEMS In AutoMax systems application programs also referred to as tasks can be written in Ladder Logic PC language Control Block language and Enhanced BASIC language Enhanced BASIC language is modeled after standard BASIC It consists of simple statements functions and math notation to perform operations Refer to J 3676 J 3677 and J2 3094 for more information about Control Block and Ladder Logic PC progra
34. not assigned to an opened port e fnis not assigned to a serial communication port PORTA on the leftmost Processor PORTA or PORTB on other Processors The following example would turn RTS on wait 55ms send the text wait for all characters to be sent wait 110ms then turn RTS off 10 OPEN PORTA AS FILE 1 SETUP 0 9600 30 CONTROL VAL 1 turn RTS on 40 STATUS RTS_CONTROL 1 CONTROL_VAL 50 DELAY 10 TICKS delay 55 ms 60 PRINT 1 SEND send text out port A 65 IF ALL_SENT 1 THEN GOTO 70 66 DELAY 1 TICK GOTO 65 wait for all sent 70 DELAY 20 TICKS delay 110 ms 80 CONTROL VAL 0 turn RTS off 90 STATUS RTS_CONTROL 1 CONTROL_VAL ALL_SENT Function Format ALL_SENT n where n is the logical number assigned to the port in the OPEN statement This function provides a method to detect when all characters in a message are sent This function returns true if all of the characters from the previous print statement have been transmitted that is the transmit queue is empty This function returns false only under the following conditions e Some characters have not yet been transferred e n is not assigned to an opened port e nis not assigned to a serial communication port PORTA on the leftmost Processor PORTA or PORTB on other Processors Refer to the OPEN statement for a description of the purpose of the RTS signal WRITE TUNE Function Format WRITE TUNE tunable new val
35. or FALSE When printing items in BASIC the individual fields can be separated in one of two ways with a comma or a semicolon If the fields are separated by a comma the items will be printed right justified in print zones of 15 character positions wide The following is an example 10 PRINT A C B This prints as follows 298 12376 FALSE 123456789012345 123456789012345 123456789012345 Used in this example only to show print zones The only exception to this is when a string that is greater than 15 characters is printed The print zone for that string will be the next integral multiple of 15 greater than the string length If the string is 1 to 15 characters the print zone is 15 If the length is 16 to 30 characters the print zone is 30 characters and so on If the items in the print list are separated by a semicolon the print fields are separated by a single space unless they are string fields If they are string fields there are no spaces between them 10 PRINT ABC STRING_1 STRING_2 XYZ BOOL This prints as follows 567 THIS IS STRING1THIS IS STRING2 98 FALSE L 1 SPACE BEFORE BOOLEAN 1 SPACE BEFORE NUMERIC NO SPACES BEFORE STRING FIELD NO SPACES BEFORE STRING FIELD The semicolon can be used at the beginning of a statement to prevent zoning of the first item printed The semicolon can also be used at the end of a PRINT statement to tell BASIC not to advance the print pointer to the next line after the
36. or Control Block tasks is 16 characters letters underscore or digits not including the type character attached at the end Note that PC Ladder Logic tasks variables are limited to 14 characters 16 in V4 0 and later This is important if variables that are used in BASIC or Control Block tasks must also be used in Ladder Logic tasks i e if the variables are common This variable length 16 permits meaningful and understandable names Avoid cryptic variable names Meaningful Unintelligible Variable Names Variable Names MOTOR SPEED 6 MSPD GAIN G CURRENT_GAIN CGN DROP_1_REFERENCE D1RF 4 1 4 1 1 1 4 2 AutoMax Enhanced BASIC has variable types just as standard BASIC does The variable type indicates the kind of information the variable is representing numeric data characters etc The variable type is specified by a terminator or ending character BASIC uses five types of variables 1 Single integer variables values 32768 to 32767 2 Double integer variables values 2147483648 to t 2147483647 3 Real variables values 9 2233717E 18 to 9 2233717E 18 Note that the E n is read as an exponent in BASIC Boolean variables values TRUE ON or FALSE OFF String variables Single Integer Variables A single integer variable is a named location in which an integer value can be stored It is called a single integer because it requires a single 16 bit word to represent its
37. statement except the last one For example the following line contains three complete PRINT statements 10 PRINT A PRINT B PRINT C lt CR gt or 10 PRINT A PRINT B PRINT C lt CR gt There is only one line number for a multi statement line You should take this into consideration if you plan to transfer control to a particular statement within a program For instance in the above example you cannot execute just the statement PRINT B without executing PRINT A and PRINT C as well 3 3 Multi Line Statements In BASIC a statement can continue onto another line When a statement is to be continued the line is terminated with an ampersand amp followed by a CR After the ampersand only Spaces or tabs are allowed Other characters will cause compiler errors The following is an example of a multi line statement 20 LET MOTOR_REF MOTOR_REF amp CR SYSTEM GAIN 6 OLDGAIN 2 FACTOR CR The ampersand tells the compiler that the statement is continuing on the next line CR without the ampersand before it signifies that the entire statement is complete When a statement is continued on a second line that line should begin with a tab to provide maximum readability The statement below is confusing because the 30 looks like a line number instead of part of an equation 20 LET MOTOR_REF MOTOR_REF OLDGAIN amp CR 30 GAINFACTOR VALUE 6 lt CR gt 3 3 4 0 4 1 4 1 1 VARIABLES AND CONSTAN
38. subscript For example array A 10 is a one dimensional array containing eleven integer values Example 1 One dimensional array w e t 2 3 55 ved 2 sj s sopa value of A Example 2 Two dimensional array B 6 3 o fies 2 sa 79 99 124 40 ace Lt 20 96 46 31 34 e 6 a mro a espere 51 rs ve o 5350 o zai In the case of string arrays Version 1 0 Executive software always allocated the maximum amount of memory for each element in the array regardless of whether the string stored in that element was of the maximum length 31 characters Version 2 0 and later Executive software allows the programmer to specify the maximum size of elements in the array from 1 to 255 characters To specify the maximum size of string variables in an array add a colon and a number 1 255 immediately after the character when declaring the variable in an application task or defining it during configuration For example defining A 10 20 as a local variable in 4 5 4 1 3 4 6 an application task allocates space for 21 string values of 10 characters each Note that if no length is specified in the initial array reference the default maximum is 31 To define an array that will be common i e accessible to all tasks in the rack you need to first define the variable If you are using AutoMax Version 2 1 or earlier this is done with a MEMDEF or NVMEMDEF statement in the configuration task for the r
39. system This statement enables tasks to communicate with each other using INPUT and PRINT statements When a channel is opened between two tasks and one task PRINTS to the other the information is going to the waiting task not to a printer or serial port When one task INPUTs data from another the data is being read from the other task that has opened the channel The OPEN CHANNEL statement has two formats depending upon which task it is being used in The task sending data through the channel must use the OPEN CHANNEL FOR OUTPUT format The task reading data from the channel must use the OPEN CHANNEL FOR INPUT format Multiple tasks can open the same channel for output purposes and write data to it but only one channel may open the channel for input purposes and read from it Format for task writing to a channel OPEN CHANNEL FOR OUTPUT AS FILE zin TYPE type Format for task reading from a channel OPEN CHANNEL FOR INPUT AS FILE n TYPE type DEPTH depth n logical number assigned to the channel range 1 255 the PRINT and INPUT statements must reference the same number to identify this particular channel type variable type or list of types that are to be passed through the channel multiple types must be separated by a comma this information allows the system to format each piece of data when it passes it from one task to another single integer D double integer R real S string B boolean 6 20
40. the maximum and loaded If the string expression is used in a relational expression or PRINT statement where it is not assigned to a variable but only exists as a temporary entity the string expression may be as large as 132 characters The following are strings used as intermediate values In both cases the string expression enclosed within the parentheses may be as large as 132 characters If it exceeds that length it is truncated to 132 characters This means that BASIC will allow string expressions to be as large as 132 characters while the expression is being computed however at the time it is to be assigned to a string variable it must be able to fit the string into the allocated variable space 31 default 1 255 if specified in the variable definition IF A C lt gt B TEXT THEN 200 PRINT HI 4 A B C N XYZ Boolean Expressions A boolean expression just like a boolean variable evaluates to a true false value Refer to table 5 3 for the truth table Boolean expressions use the following boolean operators AND performs logical AND function OR performs logical OR function XOR performs logical exclusive OR function NOT unary boolean operator performs a boolean complement The following are boolean expressions OVER_TEMP Simple boolean variable TRUE or FALSE OVER_TEMP AND SHUTDOWN_READY ANDs two boolean results together NOT A OR B AND C complex boolean ex
41. the number of the socket through which the message is to be received This is the value that was returned from the SOCKET or ACCEPT function This can be specified as a simple variable or as an element of an array list is a single dimension double integer array whose size is limited only by memory capacity The values in this array define where to put the data to received No subscript is given on this parameter Beginning at list 0 the even elements of the array contain pointers to where to put the data and odd elements of the array contain the number of bytes to accept The number of bytes must be even The value for pointers is found with the VARPTR or FINDVAR function The list is terminated by a pointer with a value of zero at the even boundary This function receives data from socket SN into memory pointed to by the list All pointers must reference variables defined as I O Pointers may not reference variables defined in the Common Memory Module or AutoMax Processor If a TCP socket is specified it must be connected first A socket can be selected as blocking or non blocking If the socket is blocking and no data has come in the task will be suspended until data arrives If the socket is non blocking and no data has come in the RECVL command will return with the error No message waiting The default mode is blocking Values Returned gt 0O Number of bytes transferred 2 ENI not initialized 9 No buffer spac
42. the word DISABLED Note that the limit on the number of hardware and software events in all tasks in a rack is 32 SET and WAIT ON Statements The SET statement is used to set an event or indicate that it has occurred Executing this statement makes any other tasks that were suspended while waiting for that event to occur or setting of that event eligible to run WAIT ON causes task execution to stop until the EVENT NAME is set by the SET statement The format of the SET statement is SET event_name where event_name name of the hardware or software event previously defined by at least one task The format of the WAIT ON statement is WAIT ON event_name where event_name previously defined by at least one task same as the corresponding SET statement The following is an example of EVENT NAME SET and WAIT ON statements Task ABC is performing a calculation every 40 milliseconds Task XYZ is suspended waiting for event GAIN OVER to occur so that it can perform some calculations of its own Task XYZ needs to run only when event GAIN_OVER occurs which in this example will indicate that the variable GAIN is beyond a certain maximum 6 19 Task ABC 10 EVENT NAME GAIN OVER 90 IF GAIN MAX GAIN THEN SET GAIN OVER Task XYZ 30 EVENT NAME GAIN OVER 105 WAIT ON GAIN OVER 6 6 3 OPEN CHANNEL Statement The OPEN CHANNEL statement equates a logical name with a data channel between two application tasks in the
43. to XYZ 10 VARIABLE NAMES XYZ 10 POINTER FINDVAR VARIABLE NAMES CONVERT Function This function requires the AutoMax operating system with the Ethernet option This function can be used on the AutoMax PC3000 although the PC3000 does not support the other Ethernet functions Format CONVERT src variable src subscript dest variable amp dest subscript num of words mode where src variable is the variable that selects were to get data from This parameter may be a scalar or an array of any data type If src variable is an array it should only be the base name and any data type character src subscript is only used if the src variable is an array It determines where in the array to begin reading If not an array the value should be 0 dest variable is the variable that selects were to move the data This parameter may be a scalar or an array of any data type If dest variable is an array it should only be the base name and any data type character 7 19 7 42 7 20 dest subscript is only used if destination variable is an array It determines where in the array to begin writing If not an array the value should be 0 num of words selects the number of words to move mode determines the mode of operation VALUE FUNCTION 0 Move data with no change in format 1 Convert from Motorola Floating Point to IEEE format 2 Convert from IEEE Floating Point to Motorola format 4 Word swap 0102H
44. to receive This parameter can be a constant an integer or a double integer If var is a simple variable and len is greater than the size of the simple variable then var must be defined as I O to avoid overwriting AutoMax memory If var is an array and len is zero the length to receive is the size of the array An error is generated if len is greater than the size of the array For TCP only if len 6 is 1 the number of bytes received will be returned to the sender This function writes up to len bytes of data from socket SN into the variable VAR If a TCP socket is specified it must be connected A socket can be selected as blocking or non blocking If the socket is blocking and no data has come in the task will be suspended until data arrives If the socket is non blocking and no data has come in the RECV command will return with the error No message waiting The default mode is blocking Values 20 Returned Length of message received 2 ENI not initialized 9 No buffer space 15 Bad socket number 17 Message too long 18 Zero length for non array 26 Array is not single dimension 29 Max size of strings are not equal 31 Max size of string lt recv size of string 32 Beyond end of array 101 No message waiting 102 Socket not connected For example RECV_LEN RECV SN SET_POINTS LEN 8 7 8 9 RECVL Function Format RECVL sn list where sn 6 is
45. to the expression BASIC will use integer arithmetic until it encounters a real value and then convert the integer partial result to real For example the following expression is evaluated exactly as seen left to right because there are not parentheses and all the operators are of the same precedence or importance REAL3 B C D REAL1 REAL2 The above statement is evaluated as follows 1 B C will be calculated in integer arithmetic 2 The intermediate value of B C is then multiplied by D using integer arithmetic because both quantities are still integers 3 The intermediate value of B C D is now multiplied by REAL1 but since one of the values is real and one is integer the intermediate value of B C D must be converted to a real value before the multiplication by REAL1 5 7 5 8 4 The intermediate value of B C96 D96 REAL1 which is in real format is now multiplied by REAL2 also in real format The result is then a real value which is loaded into variable REALS Note If the variable on the left side of the equal sign were an integer the resultant real value would be truncated first and then loaded into the variable The mixing of integers and reals in the previous example does not result in a problem because although there are intermediate integer values multiplication operators do not intermediate integer values multiplication operators do not cause any loss of pr
46. too long No more operator stack expression too long No more memory to link object code buffer FOR NEXT Error Codes 376 377 378 379 380 381 382 383 384 385 386 387 FOR control variable cannot be a tunable variable NEXT control variable does not match FOR control variable Control variable must be simple variable not array Invalid data type on control variable in FOR statement Bad FOR statement format Invalid statement type following THEN in IF statement Missing expected THEN Invalid data type for expression in FOR statement Missing corresponding FOR statement FOR loops nested too deep IF THEN ELSE statement gt 32K Missing CR or old and new IF THEN formats mixed OPEN CLOSE INPUT PRINT Error Codes 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 Bad device name Bad logical file number specification Bad device name for OPEN statement Bad baud rate in OPEN SETUP parameter Invalid device specification Bad OPEN statement format Duplicate logical file number Invalid CLOSE statement format Invalid device name Missing expected print field Specified file has not been defined no OPEN Device must be accessed by OPEN first Invalid data type for print using format Bad PRINT USING format Specified format field width too wide Cannot have print using with channel B 3 B 4 412 413 414 415 416 417 418 419 420 421 422 423 Bad GET statement format Bad PUT stat
47. variable has no terminating character such as or A real variable can have the following values 9 2233717 x 1018 gt positive value gt 5 4210107 x 10 20 9 2233717 x 1018 gt negative value gt 2 7105054 x 10720 Note When entering real variable values in your program use scientific notation See section 4 2 3 for more information on real constant formats The following are examples of valid real variables ROLL RATIO GAIN ADJUST WINDUP FRACTION Only eight digits of significance are used when entering a real number thus 9 4481365 and 9 4481365200178 would be treated the same way The 200178 at the end of the second number would be ignored Real or decimal numbers require more time to process while BASIC is running due to the increased accuracy and additional internal calculations required It is legal to assign an integer to a real variable REAL 45 However if the integer is greater than 22 16777216 the real value into which it is converted will be imprecise because of the format in which the real numbers are manipulated 24 bit mantissa 4 3 4 4 4 1 1 4 4 1 1 5 4 1 2 Boolean Variables A boolean variable is a named location which represents a TRUE FALSE or ON OFF value It is named using the rules listed in section 4 1 1 and terminated with an at symbol The following are valid boolean variable names REEL EMPTYG OVER TEMPQG TURRET_ENGAGED The following are invalid boo
48. 00 400 20 ON A96 5 GOTO 100 205 300 515 GOSUB ON GOSUB and RETURN Statements Subroutines A subroutine is a block of statements that performs an operation and returns control of the program to the point from which it came Including a subroutine in a program allows you to repeat a sequence of statements in several places without writing the same statements several times In BASIC you can include more than one subroutine in the same program Subroutines are easier to locate and edit if they are located together usually near the end of the program The first line of a subroutine can be any legal BASIC statement including a remark statement You can nest subroutines one subroutine within another up to the point that memory becomes insufficient to keep the return information for the subroutines The GOSUB statement has the following format GOSUB line number where line number line number of the entry point in the subroutine can be an integer constant or integer expression If the result of the expression value does not match a line number in the task execution falls through to the next sequential statement after the GOSUB No error is reported When BASIC executes the GOSUB statement it stores internally the location of the next sequential statement after the GOSUB and transfers control to the line specified BASIC executes the subroutine until it encounters a RETURN statement which causes BASIC to transfer
49. 32767 Not assigned Hardware event ticks 0 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 Hardware event ticks overflow Print buffer overflow print field too long Device not open properly OPEN with bad device address Device not open for write No stack space for print Device not allocated No buffer for print operation insufficient memory Fatal print error Device already open Device OPENed differently from attempted operation Bad allocate Bad default OPEN Device already closed Device opened as a channel Bad device close no address Default device not allocated Channel not open Print integer channel overflow Message overflow Unsuccessful channel open Integer gt 24 bits in real conversion Real to integer overflow No buffer for GET operation No print buffer Device closed on GET GET not open for read GET attempted on unopened device Bad GET operation No buffer for PUT operation No print buffer Device closed on PUT statement PUT not open for write PUT attempted on unopened device Unsuccessful PUT operation Device should be open Invalid baud rate Bad SETUP re configuration Precision out of range Width too long printing integer field in PRINT USING D format Width too long printing integer fiel
50. 430A 57C431 and 57C435 and all tasks are stopped See J 3684 J 3750 or J2 3045 for more information BASIC provides two statements to help deal with errors that occur during execution 1 ON ERROR statement 2 RESUME statement ON ERROR Statement The ON ERROR statement is used to define where the task should transfer control if a non fatal error occurs The ON ERROR statement has the following format ON ERROR GOTO line number where line number line number where error handling routine begins When BASIC executes the ON ERROR statement it stores the line number referenced for later reference When an error occurs BASIC transfers control of the program immediately to that line number The ON ERROR statement may be executed as many times as desired BASIC re loads the error handler line number each time To tell the user what kind of error occurred and where it took place BASIC provides two pre defined symbols e ERR The error number of the logged error decimal error number e ERL The line number where the error occurred These symbols are automatically defined when the task is created and can be accessed the same as any other variable Refer to Appendix B for a complete listing of run time error codes 6 45 6 9 2 6 9 3 6 10 6 46 RESUME Statement After BASIC has transferred control to an error handling routine RESUME tells BASIC that the error handling is complete The RESUME statement has the
51. 768 or of the wrong type string instead of integer the System will prompt gt gt gt gt gt INVALID DATA TYPE INPUT AGAIN and re prompt for data that will fit into a single integer 32767 to 32768 You can enable or disable the input prompt by writing to the variable _PROMPT This symbol is automatically allocated as a local variable when the task is created At power up it has the value TRUE print a prompt character during input If the value of this variable is changed to FALSE the prompt is disabled You may find it desirable to disable the prompt when you are soliciting input from a personal computer and do not wish to have the prompt character appear on the display However when the prompt is disabled any input errors that occur will result in a run time error Program execution will continue with the next statement Therefore when you disable the prompt you should use the ON ERROR GOTO statement to initiate an error handling routine The following are valid INPUT statements 20 INPUT 1 A B 30 INPUT A B 40 INPUT 3 FULL 80 C It is possible to define a character other than carriage return lt CR gt as the terminator for data in an INPUT statement This is done by loading the ASCII value of the character into the lower 8 6 8 4 bits of the device characteristics word in the SETUP portion of the OPEN statement For example if you wanted to use a question mark hexadecimal 3F in
52. AL X 5 10 10 FOR A 1 TO 5 Outside Loop 6 6 6 6 1 20 FOR B 2 TO 10 STEP 2 30 X A B A B 40 NEXT B 50 NEXT A 60 END Statements Used for Multi Tasking Applications The typical control application has a variety of functions to perform and monitor All of these functions require the attention of the CPU or Processor module To better service these different functions BASIC provides a number of multi tasking capabilities Multi tasking is a scheme whereby the operations requiring service are grouped into separate pieces called tasks AutoMax Enhanced BASIC provides the following statements to allow the user to break the control application into tasks and then synchronize those tasks 1 EVENT statement 2 SET statement 3 WAIT statement 4 OPEN CHANNEL statement INPUT PRINT channel EVENT NAME Statement An event can be thought of simply as a flag or indicator that one task can set or raise and another task can wait for There are two types of events used in a BASIC task 1 Hardware events 2 Software events Hardware events are generated by an actual external condition Such as an interrupt from a Resolver module M N 57C41 1 Hardware events cannot be used on the AutoMax PC3000 See Appendix C for information on allocating hardware interrupt lines A software event is simply a flag set by an application task An EVENT NAME statement defines a specific event and is used in conjunction with
53. AutoMax Enhanced BASIC Language Instruction Manual J 3675 6 ali eai rri ELECTRIC ELI The information in this user s manual is subject to change without notice DANGER ONLY QUALIFIED PERSONNEL FAMILIAR WITH THE CONSTRUCTION AND OPERATION OF THIS EQUIPMENT AND THE HAZARDS INVOLVED SHOULD INSTALL ADJUST OPERATE OR SERVICE THIS EQUIPMENT READ AND UNDERSTAND THIS MANUAL AND OTHER APPLICABLE MANUALS IN THEIR ENTIRETY BEFORE PROCEEDING FAILURE TO OBSERVE THIS PRECAUTION COULD RESULT IN SEVERE BODILY INJURY OR LOSS OF LIFE PROGRAMS INSERTED INTO THE PRODUCT SHOULD BE REVIEWED BY QUALIFIED PERSONNEL WHO ARE FAMILIAR WITH THE CONSTRUCTION AND OPERATION OF THE SYSTEM AND THE POTENTIAL HAZARDS INVOLVED FAILURE TO OBSERVE THIS PRECAUTION COULD RESULT IN BODILY INJURY OR DAMAGE TO EQUIPMENT THE USER MUST PROVIDE AN EXTERNAL HARDWIRED EMERGENCY STOP CIRCUIT OUTSIDE THE CONTROLLER CIRCUITRY THIS CIRCUIT MUST DISABLE THE SYSTEM IN CASE OF IMPROPER OPERATION UNCONTROLLED MACHINE OPERATION MAY RESULT IF THIS PROCEDURE IS NOT FOLLOWED FAILURE TO OBSERVE THIS PRECAUTION COULD RESULT IN BODILY INJURY ONLY QUALIFIED PERSONNEL WHO HAVE READ AND UNDERSTOOD ALL APPLICABLE AUTOMAX INSTRUCTION MANUALS AND ARE THOROUGHLY FAMILIAR WITH THE PARTICULAR APPLICATION MAY UTILIZE THE ON LINE PROGRAMMING OPTION PROVIDED IN THE AUTOMAX PROGRAMMING SOFTWARE FAILURE TO OBSERVE THIS PRECAUTION COULD RESULT IN BODILY INJURY OR DAMAGE TO EQUIPMENT No
54. DEF statement format Bad RNETDEF register specification Invalid variable data type in GATEWAY definition Bad ABDEF statement format Bad file specification in ABDEF statement Bad BOOLEAN literal specification Bad GBLDEF statement format Invalid network specification Type of NET_NAME does not match type of variable Network file not found No network file drive Invalid network file drive Error opening OBN file Error reading from OBN file Network variable name not found on OBN file No memory to build network functions Function Call Error Codes 336 337 338 339 340 341 342 Invalid function call format Incorrect number of parameters in function call Bad parameter data type in function call or bad array subscript Parameter symbol not defined Variable must be simple not array variable Invalid function parameter Invalid function expression 343 344 345 346 347 Bad function variable Bad array must be 1 dimension integer Bad BLOCK MOVE variable Variable in function call not defined as COMMON Ticks per scan too high Insufficient Memory Error Codes 356 357 358 359 360 361 362 363 364 365 366 Insufficient memory to compile array Insufficient memory to compile FOR statement Insufficient memory to build symbol table Insufficient symbol table memory Object code buffer overflow Opcode position overflow statement too long No more user stack No more program stack No more type stack expression
55. E function will return a FALSE status if any of the following occurs The BLOCK MOVE function will return a FALSE status if any on the following occurs 1 The number of registers to transfer transfer size is Less than or equal to zero e Greater than 32767 2 The source or destination variable address is less than the valid starting offboard address for that rack configuration e f there is no Common Memory module M N 57C413 the starting address must be equal to or greater than 200000 hex e f there is a Common Memory module M N 57C413 the starting address must be equal to or greater than 220000 hex 3 The number of registers to transfer is greater than the number of elements in the source or destination array If the source or destination is an array and the number of elements is greater than the number of registers to move only the number requested will be moved and the rest of the array will not be affected GATEWAY CMD OKQ Function GATEWAY CMD OKQ is a boolean function that performs register transfers to or from the Interface modules including the Allen Bradley M N 57C418 Modbus M N 57C414 and AutoMate M N 57C417 modules This function cannot be used on the AutoMax PC3000 If the operation is successful the function returns a 0 value If the operation is not successful the operation returns an error code that is determined by the hardware with which the Interface module is communicating Format
56. F MOTOR _SPEED 50 THEN PRINT JOG_SPEED ELSE PRINT MOTOR_SPEED END IF 300IF MOTOR_SPEED gt JOG_SPEED THEN GOTO 700 ELSE GOTO 600 END IF 400 IF A gt 3 THEN A A 12 ELSE IF B gt C THEN C D 33 2 ELSE C D 12 998 END_IF B B A END IF The following are invalid IF THEN ELSE statements 1301F SWITCH 3496 THEN GOTO 300 ELSE GOTO 500 END IF 6 12 6 5 SWITCH 3496 is not a boolean variable or a valid relational expression 150IF A gt B THEN GOTO 700 ELSE GOTO 400 END_IF The keyword THEN must be the last item on the first line Note that Version 2 0 and later of the AutoMax Programming Executive supports both the IF THEN ELSE format described above and the IF THEN format used in Version 1 0 of the AutoMax Programming Executive M N 57C304 57C307 Version 1 0 however supports only the IF THEN format Program Looping A loop is the repeated execution of a set of statements Placing a loop in a program saves you from duplicating routines and enlarging a program unnecessarily For example the following two programs will print the numbers from 1 to 10 Program Without Loop Program With Loop 10 PRINT 1 101 1 20 PRINT 2 20 PRINT 1 30 PRINT 3 30 1 1 1 40 PRINT 4 40 IF 1 lt 10 THEN 20 50 PRINT 5 50 END 60 PRINT 6 70 PRINT 7 80 PRINT 8 90 PRINT 9 100 PRINT 10 110 END Both of these programs would result in the following being printed 1 2 3 4 5 6 7 8 9 10 The program
57. FILE 2 ACCESS NON_EXCLUSIVE Add initialization code as required KYBD_RDY TRUE IF NOT DISP_RDY THEN DELAY 10 TICKS GOTO 1210 IF USERNAME THEN PRINT 2 CLRSCR 2 CURPOS 10 10 Please enter your name INPUT 2 USERNAME END_IF DELAY 10 TICKS GOTO 2000 END COMMON USERNAME COMMON KYBD_RDY DISP_RDY USERNAMES DISP_RDY FALSE IF KYBD_RDY THEN DELAY 10 TICKS GOTO 1000 Add initialization code as required IF NOT KYBD_RDY THEN DELAY 10 TICKS GOTO 1200 OPEN PORTB AS FILE 2 ACCESS NON_EXCLUSIVE DISP_RDY TRUE IF USERNAME lt gt THEN PRINT 2 CURPOS 20 10 Hello World my name is USERNAME DELAY 5 SECONDS USERNAMES END IF DELAY 10 TICKS GOTO 2000 END 6 8 2 6 8 3 CLOSE Statement The CLOSE statement is used to de allocate a channel or port to allow other application tasks to have access to it The CLOSE statement has the following format CLOSE Zlogical device number logical_ device number where logical device number number assigned to device by OPEN statement 1 to 255 The following are valid CLOSE statements 20 CLOSE 21 22 99 CLOSE 3 The number symbol must always be present in front of the logical device number assigned to the device If PRINT or INPUT statements use the default port e g PRINT F96 or INPUT M there is no need for either an OPEN or CLOSE statement Channe
58. M N 57C395 M N 57C397 update Compatible Processor Module M N 57C430 M N 57C430 M N 57C430A M N 57C430A M N 57C430A M N 57C431 M N 57C435 M N 57C430A M N 57C431 M N 57C435 M N 57C430A M N 57C430A M N 57C430A M N 57C431 M N 57C435 M N 57C430A M N 57C431 M N 57C435 M N 57C430A M N 57C431 M N 57C435 M N 57C430A M N 57C431 M N 57C435 Note that if you are using the Programming Executive for drive control applications the Universal Drive controller UDC module B M 57552 is supported only in Version 3 3 and later of the Programming Executive software E 1 Appendix F New Features The following are either new or changed in BASIC for Version 3 0 of the AutoMax Programming Executive 1 ENI INIT 6 SOCKET BIND CONNECT ACCEPT SEND SENDL RECV 9 RECVL 10 SETSOCKOPT 11 GETSOCKOPT 12 SHUTDOWN 13 READVAR 14 WRITEVAR 15 FINDVAR 16 CONVERT The following are either new or changed in BASIC for Version 3 3 of the AutoMax Programming Executive PONAARYN Section 2 3 describes the use of BASIC statements and functions in UDC Control Block tasks Appendix D lists the BASIC functions and statements supported in UDC Control Block tasks Appendix E lists the AutoMax Processors that are compatible with versions of the AutoMax Programming Executive software The following are either new or changed in BASIC for Version 3 4 of the AutoMax Programming Executive Secti
59. Max Programming Executive for more information A change in the value of a common variable in one application task will be seen by all application tasks that reference that variable name as a common variable The following variables are defined using the COMMON or GLOBAL statement 1 Memory variables variables that are assigned to memory locations that must be accessible to all tasks in the rack These variables can be of any data type They can be read to or written from 2 O variables variables that that refer to actual physical I O locations These variables can be double integer integer or boolean variables Common I O variables that represent inputs may be read but not written to Common l O variables that represent outputs may be read or written to 6 3 6 2 6 4 Recall that BASIC tasks always use the most current value of common variables when performing calculations while Control Block and PC Ladder Logic tasks latch the value of all simple double integer integer and boolean variables See section 4 0 for more information Note that in the following examples GLOBAL can be substituted for COMMON COMMON Simple Variable Format COMMON variable where variable simple variable of double integer integer real string or boolean type for common memory locations simple variable of double integer integer or boolean type for common I O locations more than one variable can be defined with one statement
60. R Control Blocks encountered before SCAN LOOP Invalid value for RES N Invalid value for RES D Invalid value for ZETA N Invalid value for ZETA D Resolution Error Codes 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 Line used in RESTORE is not a DATA statement FOR and NEXT variables do not match Insufficient memory to compress object code Object code larger than 32K Stack requirements too large Data structures too large Symbol table integrity lost Insufficient memory for post compile resolution Line number not resolved Symbol offset too big task too large No TASK statement in configuration task No symbols in configuration task Duplicate data pointers with same data type caused by assigning two DIFFERENT variables of the SAME type to the SAME register or bit IODEF YES slot 3 REGISTER 1 BIT 1 IODEF NO slot 3 REGISTER 1 BIT 1 or NETDEF FIRST slot 2 DROP 1 REGISTER 2 NETDEF SECOND slot 2 DROP 1 REGISTER 2 Symbol table too large too many symbols Invalid condition integer literal in BASIC task symbol table Unable to allocate enough space for symbol table Symbol table integrity lost Too many COMMON integers double integers booleans used Unable to allocate space for the BASIC runtime structure header Too many LOCAL integers double integers booleans used Too many LOCAL integers d
61. S ILLEGAL 20 GO TO 40 30 FOR I 1 TO 20 40 PRINT I 50 NEXT I 60 END FOR and NEXT statements can be placed anywhere in a multi statement line 10 FOR 1 1 TO 10 STEP 5 PRINT 1 NEXT 1 20 END 6 15 6 16 A loop can contain one or more loops provided that each inner loop is completely contained within the outer loop Using one loop within another is called nesting Each loop within a nest must contain its own FOR and NEXT statements The inner loop the one that starts first must terminate before the outer loop which must be completed last Loops cannot overlap The following are two legal nested loops 10 FOR A 1 TO 10 10 FOR A 1 TO 10 20 FOR B 2 TO 20 20 FOR B 2 TO 20 30 NEXT B 30 NEXT B 40 NEXT A 6 40 FOR C 3 TO 30 50 FOR D 4 TO 40 60 FOR E 5 TO 50 70 NEXT E 80 NEXT D 90 NEXT C 6 100 NEXT A The following is a program with a legal nested loop 10 PRINT I J 15 PRINT 20 FOR I 1 TO 2 30 FOR J 1 TO 3 35 40 PRINT 1 J 45 50 NEXT J 60 NEXT 1 70 END Running the above program would display IJ 11 12 13 Inside 24 Loop 22 23 The following is an illegal nested loop because the inner loop does not terminate first 10 FOR M 1 TO 10 20 FOR N 2 TO 20 30 NEXT M 40 NEXT N FOR and NEXT statements are commonly used to initialize arrays As illustrated in this example line 5 defines a local array with 6 rows and 11 columns For more information see section 6 1 1 5 LOC
62. START BUTTON 20 LOCAL LIMIT TEMPERATURE MESSAGE LOCAL Subscripted Array Variable Format LOCAL variable size list where variable simple variable of any type i e double integer integer real string or boolean size list up to five integer constants or integer variables Separated by commas each value defining the limit of the dimension of the array expressions that result in integer values are also permitted See section 4 1 2 for more information about memory allocation for arrays note that the first item in every dimension is indicated in location 0 not 1 examples 10 LOCAL A 25 reserves space for 26 integer elements 20 LOCAL B 2 5 reserves space for 18 boolean elements LOCAL Tunable Variable Format Tunable variables provide a method of adjusting values within a certain range through the Programming Executive software while the application task is running Tunable variables can only be read by the application task itself They cannot be written to except in the case of tunable variables in UDC tasks which are also written to by the operating system on the UDC Tunable variables can never occur on the left side of a LET assignment statement 6 1 2 LOCAL variable CURRENT valt HIGH val2 LOW val8 amp STEP val4 where variable simple variable of double integer integer or real type val1 a constant of integer double integer or real type representing the value of the variable whe
63. TS All operations performed in BASIC use constants or variables Constants are quantities with fixed value represented in numeric format Variables are names that represent stored values or physical I O These values may change during program execution BASIC always uses the current value of a common i e system wide variable in performing calculations Note that Control Block and PC Ladder Logic tasks capture latch the values of all common simple double integer integer and boolean variables at the beginning of the task scan Strings reals and array variables of any type are not latched This means that Control Block and PC Ladder Logic tasks do not see the most current state of common simple double integer integer and boolean variables instead they see the state of these variables at the beginning of the scan Any changes made to these variable values by Control Block or PC Ladder Logic tasks are written to the variable locations at the end of the scan of the particular task See section 4 1 3 for more information about common variables Variables The following sections describe the use of variables in AutoMax Enhanced BASIC Simple Variables Variable names in AutoMax tasks must meet the following conditions 1 They must ALWAYS start with a letter or an underscore 2 Following the letter underscore can be letters digits or an underscore They must not include spaces The maximum length for any variable in BASIC
64. This option is used to select how the RECV and RECVL function will operate If Non blocking is enabled and no message has arrived for the RECV or RECVL control is returned to the application program and an error code 101 is returned by the RECV or RECVL Values Returned 1 Success 2 ENI not initialized 5 Did not set option 9 No buffer space 15 Bad socket number 20 Bad option number 21 Bad option value For example to set the socket to nonblocking STATUS SETSOCKOPT SN 0200h 1 8 9 8 11 8 10 GETSOCKOPT Function Format GETSOCKOPT sn opnum opval where sn is the number of socket whose option you want to read opnum is the number of the option to read opval is the name of the option variable where the current value is written This function is used to examine what modes of operation are selected OPNUM selects which option to look at and OPVAL displays the current status Options OPNUM OPVAL Description Keep Alive 0008h 0 Keep alive is disabled Default 1 Keep alive is enabled This option is only used on TCP sockets When enabled the ENI will periodically send an empty message to maintain the connection If this option is not used and a frame is not received within 8 minutes the ENI will assume it has been broken Linger 0080h 0 Linger is disabled Default 1 Linger is enabled This option is only used on TCP sockets to select how the SHUT DOWN function
65. ack If you are using AutoMax Version 3 0 or later common variables are defined within the Programming Executive For example ARRAY1 10 will allocate space for 11 boolean variables Then in an application task for the rack you declare the array a COMMON variable as follows COMMON ARRAY1 10 Each element of the array that will be used in the task can be defined with LET statements as follows LET ARRAY1 0 TRUE boolean values can only be TRUE FALSE or ON OFF Other application tasks in the rack can access the value in variable ARRAY1 0 simply by declaring it a COMMON variable Variable Control Types The control type of a variable refers to the way the variable is declared or defined in the configuration and application tasks There are two control variable types in AutoMax systems local and common 1 Local Local variables are variables that are not defined in the rack configuration and are therefore accessible only to the application task in which they are defined BASIC and Control Block tasks must define the variables with a BASIC LOCAL statement For Ladder Logic PC tasks the editor prompts for whether the variable is local or common when the task is being created In BASIC and Control Block tasks local variables can be defined as tunable Tunables are variables whose value can be tuned i e changed within limits by the operator through the On Line menu of the Executive software The value of tunable variables c
66. an also be changed by application tasks by using the BASIC languange WRITE TUNE function BASIC and Control Block tasks must define tunable variables with a variation of the BASIC LOCAL statement that includes the tuning parameters Ladder Logic PC tasks cannot use tunable variables The value of local variables at the time of initial tasks installation is always O The effect of a Stop All or a power failure on variable values in the rack depends on the variable type Local tunable variable values in both AutoMax and UDC application tasks is always retained Local variable values are retained for AutoMax tasks but not for UDC tasks AutoMax Processors will retain the last values of all local variables UDC modules will retain the variable values for the following parameter configuration data UDC test switch information and D A setup configuration The variable values of the following input data will also be retained feedback registers UDC PMI communication status registers and UDC task error log information UDC modules will NOT retain local variable values and data found in the following registers which are considered outputs command registers application registers the ISCR interrupt status and control register scans per interrupt register and scans per interrupt counter register See the AutoMax Programming Executive for more information on the STOP ALL and system re initialization conditions Common Common variables are va
67. an think of the different functions required as separate tasks each with its own priority In driving a car the operator must monitor the speedometer constantly adjust the pressure of his foot on the gas pedal check the rearview mirror for other traffic stay within the boundaries of his lane etc all while maintaining a true course to his destination All of these functions have an importance or priority attached to them with keeping the car on the road being the highest priority Some tasks like monitoring the gasoline gauge require attention at infrequent intervals Other tasks require constant monitoring and immediate action such as avoiding obstacles on the road In a control application the Processor needs to be able to perform calculations necessary for executing a control scan loop monitor an operator s console log error messages to the console screen etc Of these tasks executing the main control loop is obviously the most important while logging error messages is the least important Multi tasking allows the control application to be broken down into such tasks with their execution being dependent upon specified events such as an interrupt operator input or the expiration of a time interval The following table is a representation of typical tasks found in a control application and the kind of event that might trigger each Task Triggering Event Execute main control loop Expiration of a hardware timer that indic
68. and an error will be logged BCD_IN Function Format BCD_IN variable where variable is a single or double integer variable or expression variable value lt 9999 hex This function returns an integer value equal to the integer expression that was input with each digit converted from a 7 13 7 34 7 14 hexadecimal 4 bit binary to the decimal equivalent opposite of the BCD_OUT function In the following example assume the value at INPUT_CARD is 2381 hex IN_VALS BCD_IN INPUT_CARD The hex value 2381 is converted to a 16 bit decimal value equal to 2381 If the value input to BCD_IN is greater than 9999 hex the output will be decimal 9999 and an error will be logged BLOCK_MOVE Function Format BLOCK_MOVE source dest size where source and dest must be integer double integer boolean or real variables or one dimensional integer arrays If integer double integer or boolean variables they must be variables defined in the configuration task that points to the desired specific source or destination register on the network If the source or destination is an array it must be 1 dimensional The array may be common or local size is the number of registers 16 bit words to transfer from the source to the destination The BLOCK_MOVE function transfers data to and from the network It is a boolean function and is TRUE if the operation is successful FALSE if not The function allows the user
69. and will count towards the maximum limit on write operations to the UDC See the UDC module instruction manual S 3007 for more information 8 0 8 1 ETHER NET COMMUNICATION FUNCTIONS The following functions are used only with the Ethernet Network Interface ENI module M N 57C440 Before any of the following functions can be used the AutoMax operating system with the Ethernet option must be loaded onto the Processor Note that tasks that use these functions must be run on the leftmost Processor in the rack These functions cannot be used on the AutoMax PC3000 Function Name ENI INIT96 SOCKET BIND CONNECT ACCEPT SEND SENDL RECV RECVL SETSOCKOPT GETSOCKOPT SHUTDOWN ENI_INIT Format Description Initializes ENI Creates socket Binds socket Assigns destination for socket TCP only directs a passive open Sends specified type of variable Sends double integer array Writes received variable Writes received array Sets socket option Reads socket option Closes socket Function ENI_INIT slot addr tcp udp ether where slot addr tcp udp ether is the logical slot the ENI is to be in This can be a variable or a constant The only legal values are 2 or 4 is the Internet address to assign to the ENI This is a string of four decimal numbers separated by decimal points each ranging from 0 to 255 A typical address is 128 0 0 10 defines the number of socke
70. ated between the FOR and NEXT statements You are actually building a counter in your program to determine the number of times the loop is to execute when you use FOR and NEXT Here is a simple FOR NEXT statement example 20 FOR M 30 TO 90 STEP 3 30 40 50 NEXT M M is given the initial value of 30 and BASIC tests to determine if M is less than or equal to the terminating value of 90 The loop is executed because M is less than 90 When the NEXT statement is encountered the value of M is incremented by 3 BASIC goes back to line 20 and tests again to see if M96 is greater than 90 When BASIC reaches the NEXT statement and M has a value of 87 BASIC adds 3 to M and tests the result against the terminating value The result 90 is not greater than the terminating value of 90 so BASIC executes the loop again When BASIC reaches the NEXT statement again it adds 3 to M96 producing 93 Because this is greater than the terminating value BASIC terminates the loop by transferring control to the next sequential statement after the NEXT statement The following program will print the numbers 1 through 11 as shown below the program listing 10 FOR I 1 TO 10 20 PRINT I 30 NEXT I 40 PRINT I 50 END 1 2 3 o 100 A 9 10 11 In the above program the initial value of the index variable is 1 The terminating value is 10 and the STEP size is 1 the default Every time BASIC goes to line 30 it increments the l
71. ates the interval at which to begin a new scan Respond to external I O input Generation of a hardware interrupt by an input module Read operator data Input to an operator panel Log information Expiration of a software timer 2 3 Each of these tasks would be assigned a priority level either in the specific configuration task for the rack or in later versions of the Programming Executive software through the configuration option The priority determines which task should run at any particular instant The more important the task the higher the task priority Universal Drive Controller Application Tasks Universal Drive Controller UDC modules can be used in an AutoMax Version 3 3 or later system for drive control applications Only UDC Control Block tasks can be run on a UDC module BASIC tasks cannot be run UDC Control Block tasks can use some of the statements and functions in the AutoMax Enhanced BASIC language See Appendix D for a list of the BASIC language statements and functions that are allowed in UDC Control Block tasks 2 3 3 0 3 1 STRUCTURE OF AN AutoMax ENHANCED BASIC PROGRAM BASIC programs or tasks are created using a text editor Note the following naming convention Application task names in AutoMax are limited to 8 characters The initial character must always be a letter Following the initial character can be letters A Z underscores and numbers 0 9 Spaces and other characters are
72. be a simple variable array elements are not allowed This function is used to direct the ENI to do a passive open This is valid only on TCP sockets This function suspends execution of the task and waits until a connection is established When a connection arrives it creates a new socket with the attributes of the given socket to service the connection The application program may then shut down the original socket sn or it may loop back to the ACCEPT to wait for another connection to come in In this way a given service may have more than one client at a time Communication will take place through the new socket Values Returned 1 Success 2 ENI not initialized 7 Did not accept 9 No buffer space 15 Bad socket type 16 Nota TCP socket For example STATUS ACCEPT SN NSN 8 6 SEND Function Format SEND sn var len where sn var len is the number of the socket through which the message is to be sent This is the value that was returned from the SOCKET or ACCEPT function This can be specified as a simple variable or as an element of an array is the variable that has the data to send It can bea boolean integer double integer real string or an array of these types It may be local or common If an array is specified no subscript may be given It will always start with the zeroth element of the array is the number of bytes to send beginning at var This parameter can be a con
73. cessor module on which this tasks resides Most application task I O will be handled through this default port print list list of data items to be printed such as e Integer variables and integer expressions e Real variables and real expressions e Boolean variables and boolean expressions e String variables and string expressions The optional parameter FULL n can be used to transfer control of the program in the event that the channel is full This option is only allowed for channels and not devices The parameter is added immediately after the device number n is the line number to which to transfer control If the logical device number specifies a channel and not a device the number and type of items printed must match exactly the channel template as specified in the OPEN CHANNEL statement 6 35 6 36 The following is a typical PRINT statement using the default port PORTA 40 PRINT A B MESSAGE C D The output line would be 13 29 MOTOR 53 assuming the following values for this statement A 13 B 29 C 36 D 17 MESSAGE MOTOR The following are all valid PRINT statements 5 OPEN CHANNEL FOR OUTPUT AS FILE 6 TYPE S 10 PRINT 6 FULL 30 STRING 20 PRINT SPEED ESTOP_RELAY 5 7 19 B 30 PRINT THIS IS THE REFERENCE REFERENCE 40 PRINT SPEED GAIN 14 B C GAIN OVR 50 PRINT 2 A STUFF LEFT A 4 Note that when a boolean variable is printed it is displayed as TRUE
74. consequently they are not downloaded with the task They are not reconstructed and cannot be referenced with a GOTO or GOSUB type transfer of control because they will not exist in the executable task The REM format comments serve only to document the source file When programming critical applications note that the format comments use memory on the Processor module statements require a small amount of execution time even though they do not actually execute The remark REM statement must be the only statement on a program line The remark statement can be either the only statement on a line or it can be one of several statements in a multi statement line as long as it is the last statement REM and statements may be continued onto more than one line just like any other statement 10 THIS IS AN EXTREMELY LONG COMMENT amp CR SHOWING JUST HOW IT IS POSSIBLE TO amp CR CONTINUE A REMARK ACROSS SEVERAL LINES 10 This is an example of a series of several consecutive 20 statements used to form a block of comments 30 These comments may contain any character except 40 a carriage return for example amp amp D47 2282 96 10REM This is an example of a series of several 20REM consecutive REM statements used to form a 30 REM block of comments These comments may 40REM contain any character except a carriage 50 REM return for example 96 amp 60REM 7 HU V96 996963 The follo
75. count where variable is a single or double integer variable shift_count is the number of bit positions to shift the integer expression 0 to 15 for single integer 0 to 31 for double integer This function returns an integer value equal to the integer expression that was input shifted the specific number of binary places to the right Bit O comes off the end The result is not sign extended but treated as a logical shift For example DECADE 296 SHIFTR INPUT_CARD 4 AND OFH In this example a 16 bit value is read from an input module The second group of 4 bits bits 4 to 7 are shifted to the right into the least significant position The remaining upper bits are masked off by anding with hex value OF ROTATEL Function Format ROTATEL variable rotate count where variable is a single or double integer variable or expression rotate count is the number of bit positions to rotate the integer expression 0 to 15 for single integer 0 to 31 for double integer This function returns an integer value equal to the integer expression that was input rotated the specific number of binary places to the left Bit 15 or bit 31 if double integer wraps around to bit 0 For example MOVE 3 496 ROTATEL INPUT_CARD 4 In this example a 16 bit value is read from an input module and bits 0 to 11 are rotated into the most significant bit positions 4 to 15 Bits 12 to 15 are rotated into bit positions 0 to 3
76. current value in the range 32767 to 32768 a 16 bit signed number It is named using the rules listed in section 4 1 1 are terminated with a percent sign 96 If you include an integer variable in a program its value can be an integer no fractional part or a real decimal number If you assign a decimal number to an integer variable the fractional part will be truncated or ignored For example if the statement attempts A 3 6574 the value 3 will be assigned to A If an attempt is made to assign a value larger than the range 32767 to 32768 to a single integer variable BASIC will log this condition into the error log and will load the largest possible single integer value into the variable For example if the statement attempts A 43987 BASIC will log this as an error and set a A 32767 if the statement attempts A 53667 Basic will log an error and A will be set to 32768 The following are valid single integer variables MOTOR_SPEED FREQUENCY ROLL_WIDTH VOLTAGE_REF The following are invalid single integer variables and the reasons that they are invalid GAIN Variable not terminated with GAIN 2 Variable not terminated with 55SPEED Variable starts with a digit rather than a letter or an underscore All internal integer calculations are in double precision or 32 bits 4 1 1 2 4 1 1 3 Double Integer Variables Long Integers A double integer variable is a named location in w
77. d in PRINT USING with L R C Z format Negative decimal places Number decimal points greater than maximum precision allowed Width less than zero Field width overflow Requested substring width less than zero Requested width greater than maximum No space for requested PRINT USING field String greater than field width Bad channel depth Device not open Attempted negative square root B 9 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 B 10 First substring position specification greater than string length Not assigned Not assigned Wrong data type input for boolean Another error occurred during execution of ON ERROR routine Could not allocate for write Wrong data type input for string Last substring position less than first substring position First substring position specification lt 0 Last substring position specification lt 0 Rotate count greater than 31 Overflow on absolute value function Not assigned Device open at END Channel not open on input Wrong type for integer Next character after field not legal Bad next character No input channel I O buffer Not allocated for re configuration Bad BCD digit Channel already open Wrong token for comma Not open for read No comma between fields Wrong data type input fo
78. e 15 Bad socket number 17 Message too long 18 Zero length 19 Illegal pointer 25 Nota double integer array 26 Nota single dimension array 27 Bad array format 30 Odd number of bytes in list parameter 101 No message waiting 102 Socket not connected For example RECV_LEN RECVL SN NETWORK LIST 8 10 SETSOCKOPT Function Format SETSOCKOPT sn opnum opval where sn is the number of socket whose option you want to set opnum is the number of the option to set opval is the value to write into the ENI This function is used to select different modes of operation OPNUM selects which option to change and OPVAL selects the mode of operation Options OPNUM OPVAL Description Keep Alive 0008h 0 Keep alive is disabled Default 1 Keep alive is enabled This option is only used on TCP sockets When enabled the ENI will periodically send an empty message to maintain the connection If this option is not used and a frame is not received within 8 minutes the ENI will assume it has been broken Linger 0080h 0 Linger is disabled Default 1 Linger is enabled This option is only used on TCP sockets to select how the SHUTDOWN function will operate When linger is enabled and there are messages in any transmit or receive queues the ENI will process those messages before doing the shutdown Non Blocking 0200h 0 Non Blocking is disabled Default 1 Non Blocking is enabled
79. e interrupt line is allocated for a Processor Module regardless of whether one or four hardware EVENT statements are used in the application tasks loaded on that Processor The following examples of interrupt line allocation assume that there are two Processor modules in the rack Note that these examples do not take into account the efficiency of distributing application tasks between Processor modules in this manner in terms of system performance Example 1 Slot 1 Slot 2 Processor Processor Module Module E X X X X 4 hardware EVENT No hardware statements in EVENT statements BASIC or Control or CML tasks Block tasks Interrupt Line Hardware EVENT Statement CML Task x Hon il CML C 1 Example 2 Slot 1 Slot 2 Processor Processor Module Module CML KEE KEK 1 CML task 4 hardware EVENT statements Interrupt Line X Hardware EVENT Statement CML CML Task Example 3 Slot 1 Slot 2 Processor Processor Module Module L aS CML X X xx 1 hardware EVENT 1 CML task and statement 4 hardware EVENT statements Interrupt Line x Hardware EVENT Statement CML CML Task Example 4 Slot 1 Slot 2 Processor Processor Module Module CML CML X X X X 2 CML tasks 4 hardware EVENT statements Interrupt Line X Hardware EVENT Statement CML CML Task C 2 Appendix D BASIC Language Statements and Functions Supported in UDC Cont
80. eal numbers will be returned by the STR function in this format The string will always be 14 characters long with a sign or a decimal point 8 digits 12345678 an exponent sign E and 2 digits of exponent XX The sign character is always present after this conversion even if the number is positive BINARYS Function Format BINARY expression where expression must be an integer or integer expression The function returns the binary form of the input as a string of 1s and Os For example BIT BINARY NUMBER_1 HEX Function Format HEX expression where expression must be an integer or integer expression The function returns the hexadecimal value of the input as a string For example HEX_VAL HEX X LEFT Function Format LEFT string str_length where string can be a string variable or expression str_length is the number of characters to take from the left side of the string string expression in parameter 1 The function returns a substring that is equal to str_length parameter 2 of the leftmost characters of the string or string expression parameter 1 SUB STRING LEFT ABCDEFG 4 SUB_STRING has the value ABCD STR1 12345 SUB_STRING LEFT STR1 ABC 6 SUB_STRING has the value 12345A 7 5 7 16 7 17 7 18 7 6 RIGHTS Function Format RIGHT string str length where string can be a string variable or expression
81. ecision as the operations are performed 4 5 334 is the same as 4 00 5 334 Problems may however occur when mixed mode arithmetic involves division Consider the following example in which the operation A B must occur first because of the parentheses 10 A 17 B 3 REAL 13 7889 20 REAL2 A B REAL The partial result of the first expressions is 5 17 3 5 66666 the fractional part 0 66666 is ignored because it is integer division The 5 is then multiplied by 13 7889 yielding 68 9445 5 x 13 7889 not 78 1370 5 66666 x 13 7889 Once an intermediate result in a BASIC expression is evaluated as a real the rest of the expression will also be done as real arithmetic The above expression could be modified as follows to get the full precision from the division 10 A 17 B 3 REAL 13 7889 20 REAL2 1 0 A B REAL Multiplying the 1 0 which is a real number by the variable A forces A to be converted to real The result of 1 0 A is thena real value Since 1 0 A is real B must be converted to real to be used in the division The following is a comparison of the execution times for different arithmetic modes doing the same expression Notice that the third example combining integer and real values is the most time consuming because of the conversion required on the integer before the addition can be performed It is therefore faster to do arithmetic in either all real or all integer If possib
82. ement 00 eee eee 6 3 6 2 Program Documentation concio ecce terre d 6 4 6 3 Variable Assignment LET SET MAGNITUDE 6 6 6 4 Transferring Program Control 00 000 eee 6 7 7 0 6 4 14 GOTO GO TO Statement cece eee ee 6 7 6 4 2 ON GOTO Statement 000 cece eee 6 9 6 4 3 GOSUB ON GOSUB and RETURN Statements SUDFOULINGES sarera sais Ema tee ene dome eh RU 6 10 6 4 4 IF THEN ELSE Statement 0 00 0 cece eeu 6 12 6 5 Programi LOOPING es ciat re ERR OE NP dore Hes 6 13 6 6 Statements Used for Multi Tasking Applications 6 17 6 6 1 EVENT NAME Statement 0 00 00 0 cece eee 6 17 6 6 2 SET and WAIT ON Statements 00005 6 19 6 6 3 OPEN CHANNEL Statement 00 000 eee 6 20 6 7 Real Time Enhancements 00000 cee eee eee eens 6 22 6 7 1 DELAY Statement 0 00 ccc ccc eee 6 22 6 7 2 START EVERY Statement 0 cee ee eee 6 23 6 8 Communication Capabilities 0 6 24 6 8 1 OPEN Statement 0 0 00 c cece eee e ee 6 24 6 8 2 CLOSE Statement 0 000 eee 6 33 6 8 3 INPUT Statement crer nip Yupb art eR Dr pud 6 33 6 8 4 PRINT PRINT USING Statements 0405 6 35 6 8 5 IOWRITE Statement Accessing Foreign I O 6 41 6 8 6 GET Statement 0 00 ccc ccc cece eee eee 6 42 6 8 7 PUT Statement 0 cece cee eee ee
83. ement A OFFFFH executes BASIC attempts to put the value 0000FFFFH into the variable A This causes an overflow because the hex number is greater than 32767 the largest single integer When this happens BASIC logs an error and loads the variable A96 with the greatest possible value 32767 The variable A96 since it is a 16 bit value will hold the quantity OFFFFH but it must be sign extended into a 32 bit form to be handled internally and look like a number in the range 32767 to 32768 Since all hex constants are not sign extended but assumed to have leading zeros in the leading hex digits OFFFFH is too large Sign extending OFFFFH would result in OFFFFFFFFH which is expressed in 2 s complement decimal format as the number 1 Therefore the statement A 1 or A OFFFFFFFFH would properly load the value OFFFFH into the variable A96 Transferring Program Control At times it may be necessary to transfer control to different sections of a task depending on certain conditions the value of a variable the occurrence of an event etc BASIC provides the following statements to accomplish this 1 GOTO GO TO statement 2 ON GOTO statement 3 GOSUB statement RETURN statement 4 ON GOSUB statement GOTO GO TO Statement The GOTO statement causes the statement that it identifies by line number to be executed next regardless of that statement s position within the program BASIC executes the statement at the line number
84. ement format Bad INPUT statement format Cannot close a channel Cannot GET from a channel Cannot PUT to a channel Bad SETUP specification in OPEN device Open device attempted on a channel Bad format in OPEN FOR READ or OPEN FOR WRITE Invalid keyword in OPEN configuraton Bad ACCESS parameter must be EXCLUSIVE or NON EXCLUSIVE SETUP requires EXCLUSIVE access START WAIT DELAY EVENT Error Codes 426 427 428 429 430 431 432 433 434 435 436 Invalid time units specification Missing DELAY expression Bad START EVERY statement Bad WAIT statement format Invalid event name Bad EVENT statement format Bad time units in START statement Delay time units must be an integer Duplicate event name Missing start interval Missing event definition Channel I O Error Codes 446 447 448 449 450 451 452 453 454 455 Missing DEPTH parameter on OPEN CHANNEL FOR INPUT Bad OPEN CHANNEL format Bad channel template in OPEN statement Invalid DEPTH specification for OPEN CHANNEL INPUT PRINT reference does not match channel template Not assigned Channel template too large Channel packet too large Channel was opened for input but output attempted Channel was opened for output but input attempted Array Error Codes 466 467 468 470 471 Array requires more than maximum storage Bad array subscript Number of subscripts does not match definition Missing array dimension Too many array subscripts Miscellaneous Comp
85. en transmitted If the external equipment being controlled requires an enable disable time of more than 1 msec RTS must be controlled in an application task using the RTS CONTROL function Refer to the RTS_CONTROL function for a description of the operation and an example program If hardware handshaking is enabled and RTS is set true using RTS_CONTROL RTS will remain true after all the characters have been transmitted so that the application task can use RTS CONTROLO to set it false hex number HA Aa_e 0 be wr D default D 9 9 Fe njwree vjere e s e e OY OPTIONAL TERMINATION CHARACTER FOR INPUT STATEMENTS X ON X OFF HANDSHAKE ENABLED D X ON X OFF HANDSHAKE DISABLED HARD COPY DEVICE NON HARD COPY DEVICE D ECHO ON D ECHO OFF 8 BIT CHARACTERS D 7 BIT CHARACTERS EVEN PARITY ODD PARITY D PARITY ENABLED PARITY DISABLED D 2 STOP BITS 1 STOP BIT D HARDWARE HANDSHAKING ENABLED HARDWARE HANDSHAKING DISABLED D baud_rate 134 150 200 300 600 1200 default 1800 2400 4800 9600 and 19200 19 200 for Processor module M N 57C435 and PC3000 Serial Option card The baud rate must be specified if the SETUP parameter is specified status Required only when using port B on a Processor See Configuring and Using Port B below for details An optional parameter Specify as NON_EXCLUSIVE when more than one task in the Processor must have access to port B T
86. end and odd elements of the array contain the number of bytes to transfer The number of bytes must be even The value for pointers is found with the VARPTR or FINDVAR function The list is terminated by a pointer with a value of zero at the even boundary This function causes a message to be sent to the destination as defined by the socket number If a TCP socket is specified it must be connected If the connection was established with an ACCEPT the destination is the station that established the connection Values 20 Returned Number of bytes transferred 2 ENI not initialized 9 No buffer space 15 Bad socket number 17 Message too long 18 Zero length 19 Illegal Pointer 25 Nota double integer array 26 Nota single dimension array 27 Bad array format 30 Odd number of bytes in list parameter 102 Socket not connected For example XMIT_LEN SENDL SN NETWORK LIST 8 8 RECV Function Format RECV sn 6 var len where sn is the number of the socket through which the message is to be received This is the value that was returned from the SOCKET or ACCEPT function This can be specified as a simple variable or as an element of an array var is the variable where the data received is written It can be a boolean integer double integer real string or an array of those types If an array is specified no subscript may be given len is the number of bytes
87. ent with no intervening INPUT PRINT GET or PUT statements The CLOSE statement must use the same device number assigned in the OPEN statement OPEN PORTA AS FILE zHogical device number SETUP specs baud rate amp CLOSE Zlogical device number Note When an OPEN statement has a setup parameter the port is opened with EXCLUSIVE access Therefore specifying ACCESS NON EXCLUSIVE causes a compile error to be logged It is not necessary to OPEN port A for NON EXCLUSIVE access this is the default mode of operation Do NOT use the device number assigned in the OPEN statement to access the port in any subsequent INPUT PRINT GET or PUT statements because the port has been de allocated by the CLOSE statement above Examples INPUT INP INPUT EMPTY line_no INP PRINT MSG GET CHAR GET EMPTY line_no CHAR PUT CHAR Port A Application Notes 1 Use port A instead of port B when port A is available because the operating system manages port allocation and error handling between tasks 2 OPEN the port to set required port characteristics CLOSE the port then use INPUT PRINT GET and PUT statements without a device number in any task to access port A All tasks have only NON EXCLUSIVE access to the port The port is opened and closed after each operation Stop All Clear commands and power cycle close all ports The port characteristics are set to OS default The user must set the port to the required characterist
88. enu when the task is running 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 Arithmetic integer overflow code Arithmetic real overflow code String concatenate overflow Divide by zero Integer multiply overflow Integer assign overflow Single integer conversion overflow in real to single integer Double integer conversion overflow in real to double integer Real to double integer conversion yields number gt 24 bits String overflow Precision lost in real to integer array element conversion Precision lost in real to double integer array element conversion Precision lost in real to single integer conversion Array subscript out of bounds Requested substring gt string DATA type in READ statement does not match DATA statememt No more DATA statements Bad line number for RESTORE statement Overflow in conversion of real to integer of FOR loop control variable Overflow in conversion of real to integer of FOR statement TO value Overflow in conversion of real to integer of FOR statement STEP value Integer gt 24 bits in STEP value integer to real conversion Bad IOWRITE Integer control variable overflow in FOR statement Double integer control variable overflow in FOR statement Real control variable overflow in FOR statement Negative delay Delay value too large 0 to 32767 Negative start interval Delay value too large 0 to
89. evice not a channel The PUT statement has the following format PUT logical device number string variable where logical device number the logical number assigned to a device during an OPEN statement If no device number is given the default device is PORTA on the Processor module on which the task resides string variable variable of data type string The PUT statement outputs a single character from a string variable to a device The operation does not generate a CR LF asa standard PRINT operation does The following are valid PUT statements 20 PUT 2 A 30 PUT A 6 8 8 6 8 9 Refer to the OPEN statement description 6 8 1 for more information on how the GET statement is used with the OPEN statement READ Statement The READ statement directs the system to read from a list of values built in a data block by a DATA statement A READ statement is not legal without at least one DATA statement A READ statement causes the variables listed in it to be given the value of the next expression in the next DATA statement BASIC has a pointer to keep track of the data being read by the READ statement Each time the READ statement requests data BASIC retrieves the next expression indicated by the data pointer The READ statement has the following format READ variable 1 variable 2 variable N where variable 1 through variable N the value s listed in the DATA statements The variables can be s
90. following format RESUME The RESUME statement returns processing to the statement that was in progress when the error condition diverted it to the error handling routine The following is a program with a valid RESUME statement 10 ON ERROR GOTO 850 850 Run time error handler 860 870 IF ERR INT VAR_LOVRFLOW AND amp ERL 720 THEN GAIN 0 880 890 895 900 RESUME CLR_ERRLOG The statement CLR_ERRLOG is used to clear the error log for the application task regardless of the number of logged errors See 7 35 for more information about testing the error log The format of the statement is CLR_ERRLOG INCLUDE Statement The INCLUDE statement allows the programmer to include a file containing BASIC statements in the task as it is compiling Multi statement lines and multi line statements are permitted The file must not include line numbers The compiler will add line numbers in increments of 1 beginning with the INCLUDE statement line number The programmer must allow enough line numbers between the INCLUDE statement and the statement that follows it to accommodate the lines automatically generated There are no limits on the number of INCLUDE statements in a task However no INCLUDE statements are permitted in a file that will be included in the task The format of the INCLUDE statement is INCLUDE filename INC where filename name of the file containing the statements to be
91. gal state in expression evaluation integrity lost Bad expression in SET MAGNITUDE statement Bad SET MAGNITUDE statement format Bad variable type in SET MAGNITUDE statement Invalid TIMEOUT expression in EVENT statement Symbol gt 255 characters long statement too long Bad IF statement transfer line number Invalid characters after the ampersand continuator Remark statement too long Line number out of range Must be first statement on the line Symbol is not a variable name Loss of precision in converting real number ELSE or END IF encountered while not compiling an IF statement ELSE not needed condition already satisfied with ELSE or END IF Missing THEN in IF THEN ELSE statement IF THEN SECTION nested to deep ELSE not valid in old style IF THEN format statement Path prefix not supported or bad format for include file name Nested include files not supported Undefined compiler directive String length specified gt 256 characters String length specified not of type integer Cant update INCLUDE structure info object code corrupted Include file could not be opened Invalid file extension must be INC Missing rate specification Invalid rate specification Redefinition of tick rate for this slot Invalid tickdef statement format No executable statements encountered No object code can be generated Control Block Related Error Codes 590 591 592 593 594 595 596 Invalid value for WLG Invalid value for ORDE
92. ge 240000 24FFFF Hex slot 5 Address Range 250000 25FFFF Hex slot 6 Address Range 260000 26FFFF Hex slot 7 Address Range 270000 27FFFF Hex slot 8 Address Range 280000 28FFFF Hex slot 9 Address Range 290000 29FFFF Hex slot 10 Address Range 2A0000 2AFFFF H slot 11 Address Range 2B0000 2BFFFF Hex slot 12 Address Range 2C0000 2CFFFF Hex slot 13 Address Range 2D0000 2DFFFF Hex slot 14 Address Range 2E0000 2EFFFF Hex slot 15 Address Range 2F0000 2FFFFF Hex Each slot in the rack has 64 K of address space Attempting to access memory on AutoMax Processors is not permitted The following is the format of the IOWRITE statement IOWRITE option data address where option the kind of write to take place literal or expression 1 single byte write low byte of data is written to the address 2 double byte write address must be even MSB is written to the address LSB is written to the address 1 This option is used to write to foreign I O modules that only support an 8 bit data path 3 word write address A 16 bit word is written to the designated address This option writes data to modules that support AutoMax addressing and data conventions 4 long word write address MSB address 1 next 8 bits address 2 next 8 bits address 3 LSB data integer variable name or expression defining data to output literal or expression
93. he parameters SETUP and ACCESS cannot be specified in the same OPEN statement If the ACCESS parameter is not specified the access status is EXCLUSIVE If the status is EXCLUSIVE no other task can read or write to the port until the port is closed Refer to Configuring and Using Port B below for details Configuring and Using PORT A For port A the Processor s operating system allocates and de allocates the port for access by any task in the Processor without using an OPEN statement in any task The operating system will automatically allocate the port before executing the INPUT PRINT GET or PUT statements and de allocate the port after executing the statements It will manage the port allocation and error handling between tasks without any software interlocking being added in any of the tasks If the operating system default port setup and baud rate described are acceptable for your application you can simply use the INPUT PRINT GET or PUT statements in any task on the Processor to communicate through port A 6 27 6 28 If the default setup or baud rate are not suitable for your application use the following OPEN statement format to temporarily allocate the port for EXCLUSIVE access to change the default setup or baud rate This changes the default characteristics of the port until the next power cycle or Stop All Clear occurs Use the CLOSE statement to de allocate the port The CLOSE statement must follow the OPEN statem
94. he time interval expires At that time the task begins execution at the line following the DELAY statement 6 7 2 START EVERY Statement The START EVERY statement format is similar to the DELAY statement format but is used to do a periodic re start or scan of the task The format of the START statement is START EVERY n time units where n any arithmetic expression or constant that evaluates to an integer result time units unit of time to be delayed before starting The possible time units for both the START and the DELAY statements are ticks seconds minutes and hours The tick rate is user definable for each Processor being used The range is 0 5 milliseconds to 10 milliseconds The default tick rate is 5 5 milliseconds The plural form of the time unit must always be used e g DELAY 1 HOURS When a START EVERY statement executes it notifies the operating system that the task needs to be re started n time units from now starting with the statement following the START EVERY statement After notifying the operating system control is passed back to the task which continues to execute The task will eventually execute an END statement which causes that task to relinquish control When the time interval in the START EVERY statement expires the operating system makes that task eligible to run It will run unless there is a higher priority task eligible to run The point in time when the task begins executing again
95. he value of the bit is zero 0 the result of the function is FALSE This function does not change the state of a bit it simply tests it BIT_VALS 012A2H BIT_VALS 0001 0010 1010 0010 IF BIT_SET BIT_VALS 1 THEN 250 In this example the IF statement will take the branch to line 250 because the condition is TRUE The value of bit 1 of BIT_VALS is TRUE or 1 BIT_CLR Function Format BIT_CLR variable bit number where variable is a single or double integer variable bit number is the bit number within the variable to test 0 to 15 for single integer 0 to 31 for double integer This function tests the value of a bit within the variable as specified by the bit number If the bit is clear or a value of zero 0 the boolean result of the function is TRUE If the value of the bit is one 1 the result of the function is FALSE This function does not change the state of a bit it simply tests it BIT_VALS 1128H BIT_VALS 0001 0001 0010 1000 IF BIT_CLR BIT_VALS 2 THEN 250 In this example the IF statement will take the branch to line 250 because the condition of the bit test was TRUE The bit was clear or equal to zero The value of bit 2 of BIT_VALS is FALSE however the entire function is TRUE if the value of the bit is zero so the function is TRUE BIT_MODIFY Function Format BIT_ MODIFY variable bit_number option where variable is a single or double integer variable
96. her integer literals or integer expressions If expressions are used they must be enclosed in parentheses variable Data item to be printed Multiple items are separated by commas or semi colons See the PRINT statement for more information on commas and semi colons when printing The following are PRINT USING examples using the L R C Z FORMATS 2 A 14V B 26 BOOLEAN TRUE 5 STRING CHARACTERS 10 PRINT USING L40 STRING 20 PRINT USING R40 STRING 30 PRINT USING C A B STRING 40 PRINT USING Z40 STRING 50 PRINT USING L40 BOOLEAN Statement 10 will left justify CHARACTERS in a 40 character field beginning with column 1 6 38 The next print expression would start in column 41 column 1 column 41 CHARACTERS dre 40 CHARACTER FIELD Print statements 20 30 40 and 50 would appear as follows CHARACTERS CHARACTERS 000000000000000000000000000000CHARACTERS TRUE The L R C Z formats are used mainly for string fields These formats can however be used to print any data type If these formats are used to print a numeric field the resulting number will be in the same decimal format as described for the unformatted PRINT e BASIC will use the 8 digits of significance available and attempt to locate the decimal point such that there is no need for an exponent 123 45678 or 12345678 or 1234567 8 e If this is not possible the number will be given one numeric position to the left
97. hich an integer value can be stored It is called a double integer because it requires two 16 bit words or 32 bits to represent its value in the range 2147483647 to 2147483648 a 32 bit signed number It is named using the rules listed in section 4 1 1 and terminated with an exclamation point If you include an integer variable in a program its value can be an integer no fractional part or a real decimal number If you assign a decimal number to a double integer variable the fractional part will be truncated or ignored For example if the statement attempts A 3 6574 the value 3 will be assigned to A If an attempt is made to assign a value larger than the range 214783648 to 214783647 to a double integer variable BASIC will log this condition into the error log and will load the largest possible double integer value into the variable For example if the statement attempts A 2157483647 BASIC will log this as an error and set a A 2147483647 if the statement attempts A 214783649 Basic will log an error and A will be set to 214783648 The following are valid double integer variables RESOLVER ADDRESS LARGE COUNTER FOREIGN CARD ADR All internal integer calculations are in double precision or 32 bits Real Variables A real variable is a named location in which a decimal value can be stored It is named using the rules listed in section 4 1 1 Unlike the other variable data types a real
98. ics Stopping a task does not change the port setup and baud rate Errors logged to task information for example Framing Overrun etc will have no major effect because the port is opened and closed after each operation 8 The serial port statements Print Input Put and Get will operate after an error has been logged because the port is opened and closed after each operation Programming Example The following example uses two tasks on the Processor to transmit and receive data from port A KYBD BAS sets the characteristics for port A and then closes the port If USERNAMES is blank KYBD BAS prompts the user to enter his name DISPLAY BAS displays the message Hello World and the user name if USERNAMES is not blank Because KYBD BAS closes the port after setting the port characteristics any task in the Processor can access read from or write to the port without using a logical device number with the INPUT PRINT GET or PUT statements KYBD BAS task 100 COMMON USERNAME 900 USERNAMES 1000 OPEN PORTA AS FILE 1 SETUP 0800H 9600 V CLOSE 1 2000 IF USERNAME THEN PRINT CLRSCR 2 CURPOS 10 10 Please enter your name INPUT USERNAME END IF 2100 DELAY 10 TICKS GOTO 2000 32767 END DISPLAY BAS 100 COMMON USERNAME 900 USERNAMES 2000 IF USERNAME lt gt THEN PRINT CURPOS 20 10 Hello World my name is USERNAME DELAY 5 SECONDS USERNAME
99. ified on the left side of the equal sign 1OLETA THIS IS A MESSAGE a string value cannot be assigned to an integer variable 10 LET A 6 22 B 34 missing term Invalid expression The purpose of the SET_MAGNITUDE statement is to allow the programmer to enter 16 bit hexadecimal values without having to worry about sign extending the numbers into a 32 bit form The following is the SET MAGNITUDE statement format SET MAGNITUDE variable value where variable a numeric simple variable integer double integer not an array value a numeric constant or expression of same type as variable If the variable specified in the statement is a single integer variable the value loaded will be only the lower 16 bits of the value field with no sign extension 10 SET MAGNITUDE A96 0FFFFH A96 is replaced by OFFFFH 10 SET MAGNITUDE A96 0C249H OR 1234H A is replaced by OD23DH 6 4 6 4 1 10 SET MAGNITUDE A96 0FEFE2222H A96 is replaced by 02222H Even if the result of the value field is more than 16 bits of significance all integer arithmetic is done internally as 32 bits only the lower 16 bits are loaded into the variable single integer variable If the variable is a double integer variable all 32 bits of the value field are loaded into the variable Without the SET MAGNITUDE statement the programmer would need to sign extend 16 bit hex values into a 32 bit form For example when the stat
100. igned to the port in the OPEN statement The symbol is required Range 1 255 The number used when referencing port A or port B in the CLOSE statement See Configuring and Using Port A and Configuring and Using Port B below The number used when referencing port B in the INPUT PRINT GET and PUT statements See Configuring and Using Port B below specs A hexadecimal single word constant or integer expression bit pattern that defines various characteristics for the port The bit positions are defined below The parameters SETUP and ACCESS cannot be specified in the same OPEN statement The default setting is ODOO hex Bits 0 7 of the word specify the terminating character for the INPUT statement as a hex value for the ASCII character The specified terminating character must be an ASCII value between 20 hex and 7E hex Using an ASCII value outside this range causes the error message Invalid string character received to be logged when the INPUT statement reads data from the serial port If these bits are left at zero 0 the default input termination character a carriage return OD hex is used When software handshaking X ON X OFF is enabled X OFF CTRL S 13 hex will be sent when more than nine characters are in the receive buffer When a task INPUT or GET statement empties the receive buffer X ON CTRL Q 11 hex will be sent The ASCII characters X OFF or X ON can not be transmitted as user data because they w
101. iler Error Codes 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 New value must be same type as tunable in WRITE_TUNE Tunable variable expected Missing delimiter Missing equal sign Missing left parenthesis Missing right parenthesis Missing expected comma or semicolon Missing line number Invalid line number Line number out of range must be 1 to 32767 Invalid data type mixing in expression Invalid variable type Variable name same as reserved symbol Variable name too long Missing variable name Variable name too long Invalid subscripted variable Invalid variable specified in READ statement Missing variable definition Invalid statement terminator expecting EOS Task must be a CONFIGURATION task Missing operand symbol or literal Missing arithmetic relational operator Not a valid statement for this task type Invalid integer expression for ON GOTO Invalid ON GOTO statement format Missing expected TO Expected expression not found Missing expected line number Invalid boolean expression Invalid tunable statement definition Symbol already defined duplicate definition Invalid data type for a tunable variable Tunable variable ranges are inconsistent Undefined variable or statement
102. imple A96 or subscripted A 4 and can be any of the five variable types integer double integer real string and boolean All variables should be separated by commas String variables should be enclosed within single or double quotes The following is a valid READ statement 10 READ A B C D 5 DATA Statement The DATA statement has the following format DATA expression 1 expression 2 expression n where expression 1 to expression n expression that after evaluation is loaded into the corresponding variable in a READ statement when the READ is executed The data type of the expression in the DATA statement must be the same as the data type of the variable that corresponds to it in the READ statement The program will run faster with READ and DATA statements as opposed to the INPUT statement simply because the system does not have to wait the extra time it takes for the system to stop and request data The data is already within the program The DATA statements may be formatted with any number of expressions as long as the same number is being requested by the READ statements 10 READ A B C D E F 20 40 800 DATA 17 900 DATA 25 30 43 76 29 6 43 6 8 10 6 44 The number of variables in the READ statement does not have to match the number of expressions in a specific DATA statement BASIC will simply go to the next sequential DATA statement in the program to acquire the value The variable type a
103. in the rack The STOP statement has the following format STOP The following are valid STOP statements 20 IF OVER_TEMP THEN STOP 20 IF GAIN gt MAXGAIN THEN PRINT amp ERROR MESSAGE YSTOP The END statement is used to end the task execution or to place the task in a suspended state until the time interval that was programmed in a START EVERY statement expires If a task has a periodic execution defined it will at some later point be re activated when that period or interval expires Refer to section 6 7 for more information The END statement has the format END The END statement must be at the physical end of the task 6 47 7 0 FUNCTIONS AutoMax Enhanced BASIC incorporates numerous intrinsic functions i e functions that can be used within expressions Some are standard and some have been added to complement the AutoMax environment The following is a list of the current functions available for use in an AutoMax system Function Name Description SIN Sine COS Cosine TAN Tangent ATN ATAN Arctangent LN Natural logarithm log base e EXP Exponential e x SQRT Square root ABS Absolute value CHR Get character from ASCII value ASC 6 ASCII value of string character LEN 6 Lenth of string STR String from numeric expression integer BINARY Binary form of input string integer HEX Hexadecimal value of input string integer LEFT Substring from left side of string RIGHT Substring from right side of
104. included The extension INC is required No drive or subdirectory specification is permitted The file to be included must be located in the drive and subdirectory in which the task is located 6 11 When you save a reconstructible task from the processor the system will write the lines included back to a file with the same filename as specified in the INCLUDE statement The reconstructed file will look exactly like the source file See J 3684 J 3750 or J2 3045 for more information on reconstructible tasks The following is an example of a valid INCLUDE statement 50 INCLUDE IODEFS INC The file IODEFS INC contains the following IODEF RELAY 1 SLOT 3 REGISTER 1 BIT 4 IODEF RELAY 2 9 SLOT 3 REGISTER 1 BIT 5 IODEF RELAY 3 SLOT 3 REGISTER 1 BIT 6 When the file is compiled it will look like this to the compiler 50 INCLUDE IODEFS INC 51 IODEF RELAY 1 SLOT 3 REGISTER 1 BIT 4 52 IODEF RELAY 2 SLOT 3 REGISTER 1 BIT 5 53 IODEF RELAY 3 SLOT 3 REGISTER 1 BIT 6 Stopping Execution STOP and END Statements CAREFULLY REVIEW MACHINE OPERATION TO INSURE THAT UNSAFE MOVEMENT IS NOT INITIATED BY STOPPING ALL APPLICATION SOFTWARE FAILURE TO OBSERVE THIS PRECAUTION COULD RESULT IN BODILY INJURY OR DAMAGE TO EQUIPMENT The STOP statement will stop all tasks in the system and should only be used when a severe error has occurred It will not be possible to continue from a stopped state without re starting all tasks
105. indeterminant If there are errors then the function is true and the variable specified is loaded with the current number of logged errors 1 to 3 This variable must be an integer variable READVAR Function This function requires the AutoMax operating system with the Ethernet option Format READVAR vn value where vn is a string expression for the name of the variable to read It can be a boolean integer double integer real or an array of these types Only single dimension arrays are allowed value is the variable where the value read is written This function accepts a variable name as a string expression and returns the value in variable VALUE The string that defines the variable name must have a suffix as follows Booleans Integers Double integer No suffix Reals If specifying an array element the subscript must be after the data type character if there is one Only common variables can be accessed 7 17 7 39 7 18 Values Returned 1 Success 22 Variable not found 23 Data type mismatch For example VARIABLE NAMES SET POINTS 17 STATUS READVAR VARIABLE NAMES VALUE WRITEVAR Function This function requires the AutoMax operating system with the Ethernet option Format WRITEVAR vn value where vn is a string expression for the name of the variable to write to It can be a boolean integer double integer real or an array of these types Only single dimen
106. ing statements A number of these statements access Processor serial ports 1 OPEN statement 2 CLOSE statement 3 INPUT statement 4 PRINT PRINT USING statement 5 IOWRITE statement 6 GET statement 7 8 9 1 PUT statement READ statement DATA statement 0 RESTORE statement OPEN Statement The OPEN statement allocates a Processor port to allow application tasks to communicate with an external device such as a personal computer Once you allocate a port you can use the INPUT PRINT GET or PUT statements to communicate through the port Depending on the port you are allocating you may also need to use the CLOSE statement in conjunction with the OPEN statement You can allocate a port only in a task running on the Processor that contains the port The OPEN statement cannot be used to communicate with other tasks See the OPEN CHANNEL statement description in section 6 6 3 for information about inter task communication Ports You Can Use for Serial Communication Multibus rack based Processor modules have two serial ports labeled PROGRAMMER PORT B and PORT A reading top to bottom Use the PROGRAMMER PORT B port for connecting the Processor to the personal computer running the AutoMax Programming Executive software The other port PORT A is available for use by application tasks If there are multiple Processor modules in the rack only the leftmost PROGRAMMER PORT B port is reserved for communicating wi
107. le REAL REAL REAL1 250usec INT INT INT1 210usec REAL REAL INT 362usec 6 0 6 1 6 1 1 AutoMax ENHANCED BASIC STATEMENT TYPES As described in section 3 1 each BASIC statement begins with a line number followed by a keyword The keyword determines what information will follow on the line This section describes all the keywords used in AutoMax Enhanced BASIC grouped by statement type as follows 6 1 Defining Variable Control 6 2 Program Documentation 6 3 Variable Assignment 6 4 Transferring Program Control 6 5 Program Looping 6 6 Statements Used for Multi Tasking Applications 6 7 Real Time Control 6 8 Communication 6 9 Error Handling 6 10 Including Other Files 6 11 Stopping Execution The format of all statements is defined along with the parameters required and the permitted variable types Parameters that are optional are so noted Defining Variable Control AutoMax Enhanced BASIC requires that all variables be defined in the task i e initialized prior to their use in the task if they must be at a known state other than 0 See section 4 1 3 Variable Control Types for more information about variable control and the initial state of variables Arrays must always be defined prior to their use Variables are defined using either a LOCAL or COMMON statement The storage area required for the variables is automatically set aside by these two statements LOCAL Statement The LOCAL statement is
108. lean variable names and the reasons that they are invalid SYSTEM_READY Variable not terminated with WEB_FULL Two s back to back are illegal 4TH_READY Variable starts with a digit rather than a letter or an underscore As with integer and real variables boolean variables form expressions With boolean variables you use the boolean operators NOT AND OR and XOR and boolean constants TRUE FALSE ON and OFF in forming these expressions LINE_DOWN NOT POWER AND RUN RUN _REQUEST TRUE SECTION_ POWER FALSE CRT _REFRESH OFF IF RUN OR STOPPED AND FAULT THEN 1350 Refer to section 5 3 for more information about boolean expressions String Variables String variables are used to store any alphanumeric sequence of printable characters including spaces tabs and special characters The terminating character is The sequence in a string variable cannot include a line terminator lt CR gt When defined the sequence must be enclosed either in single or double quotes If one type of quotes is used in the sequence itself the other type must be used to enclose the sequence Version 1 0 Executive software allowed a fixed maximum length of 31 characters for string variables Version 2 0 and later allows string variables of variable length from 1 to 255 characters To specify the maximum size of a string variable add a colon and a number 1 255 immediately after the character For example defining
109. lowed by a System restart common memory variables that are defined as volatile memory statements in the configuration are 0 Common memory variables that are defined as non volatile memory in the configuration retain their last value Common variables that represent I O locations are at 0 for outputs and at their actual state for inputs Note that the UDC dual port memory is treated like I O variables See the AutoMax Programming Executive for more information on the STOP ALL and system restart conditions 4 7 4 1 4 4 2 4 2 1 4 8 Pre defined Common Memory Variables The following common memory variables are pre defined for every rack However they do not appear on the form for common memory variables You must enter these variable names on the form if you want to use these variables in application tasks AUTORUNSTATUS True when AUTO RUN is enabled for the rack false if AUTO RUN is not enabled FORCINGSTATUS True when a variable is forced in the rack false when no variables are forced in the rack BATTERYSTATUSO True when the on board battery of the Processor module or Common Memory module in slot 0 is OK BATTERYSTATUS1 HOOH OH wt ww Ho Ho Ho Hoo Ho P BATTE RYSTATUS2 nun Ho HH Ho Ho wn Ho onn BATTERYSTATUS3 uvunnnn ww Ho Ho Ho P BATTERYSTATUS4 nn www ww Ho Ho nen AON Constants A constant also known as a literal is a fixed value that is not associated with a variable name Listed below are
110. ls that are opened as opposed to devices remain opened until the task is restarted Refer to the OPEN statement description 6 8 1 for more informtion on how the CLOSE statement is used with the OPEN statement INPUT Statement The INPUT statement is used to prompt an operator to input data from a device or channel It has the format INPUT zlogical device number input list where logical device number number assigned to device or channel by OPEN statement 1 to 255 Not used if default device is used input list list of variables to be read Variables can be simple or subscripted no expressions The optional parameter EMPTY n can be used to transfer control of the program in the event that the channel is empty This option is only allowed for channels and not devices The parameter is added immediately after the device number n is the line number to which to transfer control If more than one variable is to be read the fields must be separated by commas when entered Any extra spaces or tabs between the input fields are ignored When an INPUT statement is executed in BASIC an input prompt is printed to the device to indicate that the system is waiting for something to be entered The input prompt is a question mark followed by a space The number of fields requested in the INPUT statement are then entered at the device followed by the terminator character CR If all of the requested fields are n
111. match any line number in the task the execution of the task will fall through to the next statement and an error will be logged in the task error log The above operation can be performed more efficiently using the ON GOTO statement ON GOTO Statement The ON GOTO statement is also a means of transferring control within a program to another line depending on the result of an integer expression The ON GOTO statement has the following format ON integer expression GOTO line number 1 line_number_N or ON integer expression GO TO line number 1 line number N where integer expression any arithmetic expression that results in an integer value 6 9 6 4 3 6 10 line number 1 through line number N line numbers to which control is transferred depending on the evaluated expression The line numbers always correspond to the value of the expression If the expression evaluates to 1 control is transferred to line number 1 If the expression evaluates to 2 control is transferred to line number 2 and so on to line number N There is no corresponding line number for zero 0 Fractional numbers are truncated to an integer value For example if A 5 the result of the integer expression A 3 would truncate from 1 2 3 to a value of 1 If there is no corresponding line number the next sequential statement after the ON GOTO is executed The following are valid ON GOTO statements 20 ON A GO TO 100 200 3
112. mming In addition to multi processing AutoMax systems incorporate multi tasking This means that each AutoMax Processor up to four in a rack allows real time concurrent operation of multiple application tasks Multi tasking features allow the programmer s overall control scheme to be separated into individual tasks each written in the programming language best suited to the task This simplifies writing check out and maintenance of programs reduces overall execution time and provides faster execution for critical tasks Programming in AutoMax systems consists of configuration or defining the hardware system wide variables and application tasks in that system as well as application programming Configuration Version 3 0 and Later Systems If you are using AutoMax Version 3 0 or later you configure the system within the AutoMax Programming Executive See the AutoMax Programming Executive for information about configuration if you are using V3 0 or later The information that follows is applicable only if you are using AutoMax Version 2 1 or earlier If you are using AutoMax Version 3 0 or later you can skip over the remainder of this section and continue with 2 2 Version 2 1 and Earlier Systems AutoMax Version 2 1 and earlier requires a configuration task in order to define the following 1 All tasks that will reside on the Processors in a rack 2 All variables that equate to physical I O in the system 3 All o
113. must remain open to execute subsequent INPUT PRINT GET or PUT statements OPEN PORTB AS FILE logical device number ACCESS ZNON EXCLUSIVE The format of the INPUT PRINT GET or PUT statements used to communicate through the port is INPUT PRINT GET or PUT where is the device number assigned to the port in the OPEN statement Whenever you refer to the port in subsequent statements always use the device number assigned to the port in the OPEN statement In addition if you want to make the port accessible to multiple tasks in the Processor at the same time you must add an OPEN statement with the ACCESS parameter specified as NON EXCLUSIVE in each task that must communicate through the port using the same logical device number that was used to identify the port in the first task You must add software interlocking to each task attempting to allocate the port to ensure that the task can determine whether the port setup and baud rate have been initialized prior to opening the port for NON EXCLUSIVE access Only one task needs to allocate the port and define the setup and baud rate initially Software interlocking is also needed for port error handling Tasks may need to close and re open the port on error conditions Port B Application Notes 1 Port B requires port allocation and error handling to be handled by the application tasks 2 OPEN the port to set the required port characteristics then CLOSE
114. n the task is first downloaded to the Processor if the variable is modified when the task is running it assumes the new value as the CURRENT value If the task is reconstructed uploaded from the Processor to the personal computer instead of val1 the CURRENT value at the time will be printed following the keyword CURRENT val2 a constant of integer double integer or real type representing the highest value that the operator can assign to the variable val3 a constant of integer double integer or real type representing the lowest value that the operator can assign to the variable val4 a constant of integer double integer or real type representing the amount step by which the operator can adjust the value by decrementing or incrementing the variable examples 50 LOCAL TENSION GAIN9 6 CURRENT 25 HIGH 50 amp LOW 10 STEP 5 60 LOCAL RANGE CURRENT 2500 HIGH 3500 amp LOW 2000 STEP 50 COMMON Statement The COMMON or GLOBAL statement is used to define two kinds of variables both of which will be common i e accessible to all tasks in the rack The value of the variable is made accessible to all tasks by defining it in the configuration task for the rack and then declaring the same variable common in tasks that need to reference the variable If you are using AutoMax Version 2 1 or earlier see J 3649 for more information If you are using AutoMax Version 3 0 or later see the Auto
115. nd expression must match A READ statement is not legal without at least one DATA statement However you can have more than one DATA statement as long as there is one READ statement in the program 10 READ A B C D E F 20 40 50 DATA 17 25 30 60 DATA 43 76 29 A READ statement can be placed anywhere in a multi statement line A DATA statement however must be the only statement on a line If you build your READ statement with more variables than you include in the data block the system will print an error message when it attempts to access the next DATA expression and finds one is not there The following is an example of a READ and DATA sequence 10 READ A B C1 D2 E4 E6 Z 20 DATA 2 32 9987 83 19 6 TRUE CAT DOG 30 PRINT A B C1 D2 E4 E6 Z In the example above BASIC assigns these values A 2 B 32 9987 C1 102 D2 E4 TRUE E6 CAT Z DOG READ and DATA are useful to initialize the values of variables and arrays at the beginning of a program To do this place READ statements at the beginning of the program You can put the DATA statements anywhere in the program It is often useful to put them all at the end of the program just before the END statement See also the RESTORE statement RESTORE Statement The RESTORE statement is used when reading from a DATA statement more than once When you READ data from a series of DATA statements BASIC advances an internal pointer
116. ng are valid boolean constants SYSTEM_READY TRUE OVER_TEMP OFF 5 0 5 1 EXPRESSIONS An expression is a symbol or a group of symbols that BASIC can evaluate These symbols can be numbers strings constants variables functions array references or any combination of these The following are the different types of operations which can be performed 1 Arithmetic expressions operators 2 String expressions operators 3 Boolean expressions operators 4 Relational expressions operators Arithmetic Expressions BASIC allows you to perform addition subtraction multiplication division and exponentiation with the following operators Exponentiation i Multiplication Division Addition Unary Subtraction Unary The unary plus and minus are different from the other operators because they operate on only one operand not two The standard operators binary operators require two operands The following expressions use binary operators MOTOR SPEED 6 JOG SPEED 6 GAIN GAIN CHANGE 6 GAIN GAIN FACTOR 6 The following expressions use unary operators GAIN SPEED Legal but results in a positive value MOTOR_SPEED GAIN GAIN FACTOR MOTOR_SPEED This form is not typically used because it is assumed that the absence of an operator in front of a variable means plus or positive Unary minus makes a positive expression negative Unary plus does not make a negative expressi
117. not permitted The file extension is used to identify the task Extension CNF identifies configuration tasks Extension BAS is used for BASIC tasks AutoMax Control Block tasks use extension BLK UDC Control Block tasks also use extension BLK PC Ladder Logic tasks have a PC extension An AutoMax Enhanced BASIC program consists of a set of statements using certain language elements and syntax rules for the form of each statement Each line begins with a number that identifies the line as a statement and indicates the order of statement execution Each statement starts with a word specifying the type of operation to be performed such as PRINT GOTO and READ For a BASIC program to compile correctly all text except print list items delimited by quotation marks must be in upper case The following symbols have special meaning for the duration of this manual CR Carriage return sometimes marked RETURN or ENTER on keyboards You should assume that all BASIC statements end with a CR unless otherwise noted Some statements used in examples may explicitly use the CR notation at the end of a statement to make the example easier to understand Underscore character used to make variable names more readable for example MOTOR SPEED LINE REFERENCE Note that the underscore is not a dash or minus character which appears on the same key as the underscore on most standard keyboards Line Format The format of a sta
118. not permitted in this type of task Invalid tunable variable definition format Tunable cannot be array left side of equal or control block output Missing expected variable DATA statement not first statement for this line number Not assigned Overflow in ASCII to binary integer conversion Numeric literal too large Real literal too large Null buffer overflow statement too large Object buffer overflow statement too large Expression evaluator stack integrity lost expression too long Compiler integrity lost Illegal symbol in REM statement CALL statement not first statement for this line number B 5 B 6 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 Task not of type BASIC CONTROL or CONFIGURATION Invalid task statement format Invalid task priority Invalid task name Invalid slot specification Missing string variable in GET or PUT statement Illegal on board I O address specified Bad IOWRITE format Bad IOWRITE option expression Bad IOWRITE value expression Bad IOWRITE address expression REM statement not first statement on the line Bad ON ERROR statement format Fatal expression evaluation error no opcode match String literal too large Too many total elements for an array Array variable was referenced as a simple variable Ille
119. ns 6 42 6 8 8 READ Statement 0 0 ccc cece eee 6 43 6 8 9 DATA Statement 0 0 cee eae 6 43 6 8 10 RESTORE Statement 0 c cece eee eee 6 44 6 9 Error Handling o p sus eshte DEI RS ERR ee what 6 45 6 9 4 ON ERROR Statement 000 cece eee eee 6 45 6 9 2 RESUME Statement rer dnx dee ied aie 6 46 6 9 3 CER ERRLOG egens eee bd EET e ER poe nd 6 46 6 10 INCLUDE Statement sssssssss ki aaoi 6 46 6 11 Stopping Execution STOP and END Statements 6 47 Functlons 2 iic uui eR kra A RE ERAGRER E AP REDPEEER 7 1 TA jSIN Function i izsiecamee meme RR PERRA ER DE ERE anaes 7 2 T2 COS FUNGON eo erldeR Ib pbEenURRe P RP eI neta 7 2 7 3 TAN FUNGUON 152 xao ades hr dr doe e eh Re 7 2 7 4 ATN ATAN FUNCOM cuoc rmm eed wes Reda 7 2 7 5 EN EBEBGUOR s isa eoe nah adenoma audits apd aud mE ae Plc acc ERU 7 3 7 6 EXP 6 x Function eon pp Re m bayer acme 7 8 705 SQRI FUNCHON 22 rper br Dan PP ex FEES 7 8 7 8 ABS FUNGCHON i iosotinsos pum dE XO E qas ar med debet sed 7 8 79 CHR F tctioh iu seseozecerk ta Rape Ree prac h rv a de uda 7 3 TADASG FlnctlOn i n sr RAPERE Ree aha S jada a 7 4 7 11 LENS FUNCTION foc cident iad i aa oe oe a oka eda a 7 4 7 12 STR FUNCOM x32 uat ipto e rs wed koe Geass oe eda 7 4 7 13 BINARY Function 0 0 0 cece eee es 7 5 7 14 HEX Function 2 0 0 0 cece eens 7 5 TAS EEFT FUNCION 3 6 6d 6 dec enacd hte ue dada wave Sea habe
120. nt and have a higher precedence In the statement below however the parenthetical expression occurs later in the overall expression The exponentiation operation is performed first before the parentheses because it is encountered first in the left to right evaluation and at the time it is encountered is a higher precedence than any operator before it BASIC evaluates the expression A B C 5 X Z 17 in the following sequence C5 Exponentiation B C5 Subtraction with first term Z 417 Innermost parenthetical expression X Z 17 Next level of parentheses B C5 X Z 17 Combination of the two expressions Arithmetic mixing of both single and double precision integers along with real variables and constants is permitted in a BASIC statement The rules regarding truncation and the maximum size integer to real conversion still apply The following are valid arithmetic mixing examples 20 GAIN MOTOR SPEED 6 OLDGAIN 13 8876 or 20 GAIN GAIN REFERENCE 6 The following example could cause an overflow if the resultant value is larger than 16 bits of precision In such a case the largest possible single positive or negative integer would be loaded into the variable GAIN The program would continue to run and an error would be logged to notify the user of the problem 20 GAIN REFERENCE GAIN String Expressions BASIC provides three operations for use with string expressions
121. ntrol falls to the next sequential statement after the ON GOSUB When a RETURN is executed from one of the subroutines referenced in the ON GOSUB it returns to the next statement after the ON GOSUB The following are valid ON GOSUB statements 20 ON A B C96 GOSUB 103 220 475 650 30 ON GAIN GOSUB 200 300 400 500 6 4 4 IF THEN ELSE Statement The IF THEN ELSE statement provides a transfer of control based on the result of a relational or comparison expression It is one of the most frequently used statements in a BASIC application task The IF THEN ELSE statement has the following format IF expression THEN statement s ELSE statement s END IF where expression boolean variable or valid relational expression statement statement or series of statements separated by backslashes or colons or a line number to which to transfer control If a line number is used it must be defined by a GOTO statement If the expression following IF is evaluated as true all statements are executed If a line number is used instead of a statement it can be larger or smaller than the line number of the IF THEN ELSE statement The IF THEN ELSE statement does not allow the line continuator symbol amp Any number of IF THEN ELSE statements can be nested if they are balanced properly If there is no alternative to follow the statement following THEN do not use the ELSE keyword The following are valid IF THEN ELSE statements 50 I
122. of a decimal point and an exponent will be used 3 7836524E 12 In either case the number will be treated just like a string and will be right or left justified using the same rules as a string would be when using the L R C Z formats Only numeric expressions can use the decimal D format of PRINT USING This includes integers or floating point numbers decimal numbers The following are some examples using the D format 5 BIG NUMBER 21 7654E 10 7 FIELD WIDTH 40 10 PRINT USING D FIELD WITH 5 2 BIG NUMBER 15 SPEED 2 887654 20 PRINT USING D25 6 SPEED 25 REFERENCE 124 30 PRINT USING D10 1 REFERENCE 6 column 1 column 26 column 46 Y 123456789012345678901234567890123456789012345 124 0 Statement 30 2 887654 Statement 20 21765400 0000 00 Statement 10 Note that when the integer REFERENCE was printed with a format of D10 1 the numbers after the decimal were added and set to zero even though REFERENCE as an integer has no fractional part This will occur with all integers when the number of decimal 6 39 6 40 places to the right of the decimal point is specified as greater than zero The following are all valid PRINT USING statements 20 PRINT USING L24 HI R34 THERE 20 PRINT USING L40 HI THERE 20 PRINT USING D80 0 CURRENT REFERENCE 20 PRINT USING amp D LINEWIDTH 16 DECPTS SPEED 20 PRINT USING L42 INTEGER SPEED In the last example an unformatted print field follow
123. on 4 1 1 has been revised to state that E notation should be used to indicate an exponent in BASIC Section 8 0 describing the Ethernet functions now states that tasks that use the Ethernet functions must be run on the left most Processor in the rack The following functions have been added to BASIC RTS_CONTROL ALL_SENT WRITE_TUNE Additional BASIC statements and functions that can now be used in UDC tasks FOR NEXT SET_MAGNITUDE SIN COS TAN ATAN EXP LN BCD_IN BCD_OUT WRITE_TUNE F 1 For additional information 1 Allen Bradley Drive Mayfield Heights Ohio 44124 USA Tel 800 241 2886 or 440 646 3599 http www reliance com automax www rockwellautomation com Corporate Headquarters Rockwell Automation 777 East Wisconsin Avenue Suite 1400 Milwaukee WI 53202 5302 USA Tel 1 414 212 5200 Fax 1 414 212 5201 Headquarters for Allen Bradley Products Rockwell Software Products and Global Manufacturing Solutions Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation SA NV Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Headquarters for Dodge and Reliance Electric Products America
124. on positive A unary minus applied to a variable already having a negative value will of course make the variable or expression positive The symbols for unary plus and minus and are the same as the binary plus and minus but the operation is different For example A B means subtract B from A whereas A96 means negative the value of A Performing an operation on two arithmetic expressions of the same data type yields a result of that same data type For example A B yields an integer and K M yields a string When a real value constant or variable is used in an expression with any other numeric data type single integer double integer or real the result is always real When a boolean value is used in an 5 1 expression with a single or double integer variable the result is always integer Table 5 1 lists the arithmetic operators and their meanings In general you cannot place two arithmetic operators consecutively in the same expression The exception is the unary minus and plus and the exponentiation symbol For example A B is valid and A B is valid but A B is not valid Table 5 1 Arithmetic Operators Operator 2 asB O AddBtA A Subtract B from A Divide A by B BASIC evaluates expressions according to arithmetic operator precedence or priority Each arithmetic operator has a predetermined position in the hierarchy or importance of operators
125. onnect to This function assigns a permanent destination for a socket It must be done before any messages can be sent using any of the three protocols For Raw Ethernet or UDP sockets this function is used only to specify the destination address For TCP sockets it directs the ENI to do an active open A passive open ACCEPT done by the destination TCP socket must occur prior to this function being executed to establish a connection After the connection is made messages can be exchanged If connecting a TCP socket and the other end is not ready to accept the connection the socket will be closed To try to connect again the application must create a new socket and bind it again For raw Ethernet sockets the port number defines the packet type of all messages that will be sent The receiving end must do a BIND with the same value for the port number 8 3 8 4 8 5 Values Returned 1 Success 2 ENI not initialized 9 No buffer space 12 Bad InterNet address 15 Bad socket number 102 Socket not connected For example STATUS CONNECT SN96 DEST INET ADDRS 5001 ACCEPT Function Format ACCEPT sn nsn where sn 6 is the number of the TCP socket that should begin waiting for a connection to be made This can be specified as a simple variable or as an element of an array nsn is filled in by this function with a new socket number created when a connection has been established This must
126. ontrol is transferred BASIC will branch to that statement even though it does no direct processing 10 LET A 2 20 GO TO 40 30 A B 13 40 THIS IS ANY COMMENT 50 LET C A B 60 END At line 20 BASIC transfers control to line 40 No processing is required for line 40 although some time is required to read the line BASIC then executes the next sequential statement line 50 6 4 2 GOTO statements can use integer expressions instead of a constant as the transfer line number however the expression must have an integer as its final data type For example in your task you are reading data from DATA statements and depending on the value of variable OPTION you want to execute a specific routine Assume the values of OPTION are 0 thru 10 In this example the routines or option handlers are located at line numbers 1000 1100 1200 etc they are 100 apart for the starting line number This GOTO statement multiplies the value of OPTION by 100 to get the hundreds value of the routine 100 200 300 etc This hundreds value is then added to the base value of all the option handlers which is 1000 10 BASE_VALUE 1000 15 INPUT OPTION 20 GOTO BASE_VALUE OPTION 100 1000 routine for handling option 0 1010 1020 1100 routine for handling option 1 1110 1120 1200 routine for handling option 2 1210 1220 If the value resulting from the integer expression does not
127. oop index by 1 the STEP size until the terminating condition is satisfied The terminating condition is satisfied when the control variable is greater than 10 Therefore this program prints the values of I ten times When the loop is completed execution proceeds to line 40 and prints 1 again which has been incremented already to 11 When control passes from the loop the last value of the loop variable is retained Therefore I equals 11 on line 40 You can modify the index variable within the loop The loop in the program below only executes once because at line 20 the value of 1 is changed to 44 and the terminating condition is reached 10 FOR I 2 TO 44 STEP 2 20 LET I 44 30 NEXT I 40 END If the initial value of the index variable is greater than the terminal value the loop is never executed The loop below on the left cannot execute because you cannot decrease 20 to 2 with increments of 2 You can however accomplish this with increments of 2 as shown in the right loop 10 FOR 1 20 TO 2 STEP 2 10 FOR 1 20 TO2 STEP 2 It is possible to jump out of a FOR loop that has been started or executed at least once but you should not transfer control into a FOR loop that has not been initialized by executing the FOR statement It will result in a fatal error during run time and the task will be stopped The following is illegal in a BASIC task because line 20 shifts control to line 40 bypassing line 30 10 THIS I
128. ot entered prior to the CR the 6 33 6 34 system will prompt again indicating that it is waiting for more data The system will also prompt again if the operator enters just a CR by itself It will reprompt after every CR until all the expected data is received Note that the receive FIFO queue will accept a maximum of 64 bytes If more than 64 bytes are received without the queue being emptied the additional data is discarded In the following example 3 integer fields are expected by the INPUT routine but only 2 are entered the first time BASIC prompts again for the third number to be entered The fields can be separated with commas or spaces if the prompt is off If the prompt is on each field is separated with CR In the task 10 INPUT A96 B C On the display screen 234 56 CR 46 CR If you make a mistake while entering data use the backspace key to back up the cursor and enter the correct data Enter Crtl U to cancel any data on the line If the data entered is totally incorrect enter lt Ctrl C gt to cancel the INPUT completely If this is done none of the variables in the INPUT statement will be updated and execution will continue with the next statement after the INPUT When the prompt is enabled certain error messages are displayed to the user if his input data is invalid For example if the statement is INPUT A and the value entered is either out of range not 32767 to 32
129. ouble integers boolean literals used Too many COMMON reals strings arrays used Too many LOCAL reals strings arrays used Too many OPEN CHANNEL statements Too many arrays used Too many FOR loops used Too many real literals used Too many real tunable variables defined Invalid condition literal in CONFIGURATION task Invalid condition string literal type in the symbol table Offset to real literal in CONTROL task greater than 16 bits Invalid condition LOCAL variable in CONFIGURATION task Invalid condition relative symbol number not resolvable Offset required for relocatable reference greater than 16 bits B 7 B 8 690 691 692 693 694 695 696 697 698 699 700 701 702 725 Error opening the object output file Error writing to object output file Task with READ statements but no DATA statements Too many LOCAL integers double integers boolean variables used Unable to allocate enough space for object code Undefined Control Block data structure found Error closing source file disk may be full Error closing log file disk may be full Error closing include file Error attempting to load time date into object file Object size 732767 in Control Block task Symbol amp data size gt 32767 in Control Block task Object Symbol Data size 720480 in UDC control block task Invalid number of array dimensions Run Time Error Codes The following error codes are displayed in the error log accessible from the ON LINE m
130. ould be interpreted as flow control commands not user data 6 25 6 26 When hardware handshaking is enabled for a port the DTR Data Terminal Ready pin on the Processor port is false when more than 53 characters are in the receive buffer The DTR pin on the Processor port is true when the receive buffer is emptied Refer to the appropriate Processor manual for the port wiring required for hardware handshaking Note The DSR pin on the Processor port must be true when hardware handshaking has been enabled True is defined as 5 to 12 volts and false is defined as 5 to 12 volts The RTS Transmit Status Modem Enable pin on the Processor port can be controlled in an application task by using the RTS_CONTROL function or by the operating system if hardware handshaking has been enabled The purpose of the RTS signal is to bracket the character transmission To bracket a character transmission RTS must be set true prior to the first character being transmitted and remain true until all of the characters have been transmitted The RTS signal can be used to enable disable any type of external equipment such as a tri state transmit modem which requires an enable signal to output characters When hardware handshaking has been enabled for a port the operating system will automatically bracket the character transmission RTS is set true when data is loaded into the transmit buffer and remains true until all the characters have be
131. ove the cursor rather than to print something Further information about printing and zoned fields can be found in PRINT PRINT USING statements in section 6 8 CLRLINE Function Format CLRLINES option where option is an integer variable or integer expression that defines the clear line option to perform CLRLINE returns an ASCII string or escape sequence This escape sequence will clear various parts of a display line on a terminal that recognizes the ANSI standard erase in line escape sequence The options are as follows ESC 0K Erase from the active cursor position to the end of the line inclusive ESC 1KErase from the start of the line to the active cursor position inclusive ESC 2K Erase all of the line inclusive CLR TO ENDLINE 6 0 PRINT CLRLINE CLR_TO_ENDLINE Clears from cursor to end of display line When using the CLRLINE function with the PRINT statement a semicolon should always be located in front of the function call to tell BASIC not to put the string generated by the function call ina zoned field a field that is a multiple of 15 characters If the semicolon is not used BASIC will pad the front of the escape sequence with spaces which will most likely not have the desired effect to move the cursor rather than to print something Further information about printing and zoned fields can be found in PRINT PRINT USING statements in section 6 8 7 24 IOREAD Function The IOREAD function
132. pe integer that defines the number of bits or registers 16 bits each to be transferred cmd code determines whether the variable represents bits or registers Note that if you are transferring double integer 32 bit variables the num regs parameter must specify the number of 16 bit variables to move For example if you want to move two double integer variables starting at address 270480H num regs must be equal to 4 The master var parameter can be specified using any one of the three methods described below Ts The absolute hexadecimal address of the first bit integer or double integer on the Interface module to be read or written For example 270480H A variable name which represents the absolute hexadecimal address of the first bit integer or double integer on the Interface module to be read or written Typically the VARPTR function is used to yield the absolute address For example if in your task you define the following ADDRESS VARPTR FIRST_REG then you can use ADDRESS as the master_var parameter This assumes that FIRST _REG has been defined as a 16 bit integer variable on the Interface module An expression which when solved will yield an absolute hexadecimal address of the first bit integer or double integer to be read or written For example the master var parameter could be VARPTR FIRST BITQ2 where FIRST BIT has been defined as a boolean on the Interface module For more detailed
133. pression Table 5 3 Truth Table for Boolean Operators MEE A AND B A ORB A XOR B NOTA E 3 9 I x 1 TRUE 0 FALSE The AND boolean operator has a higher precedence than the OR or XOR operators which have equal precedence Thus in a boolean expression the AND operator will be evaluated before the OR operator The NOT operator is always applied immediately to the expression which is the same as the unary minus operator The following examples show a boolean expression and the order of evaluation of the operators A B OR C AND D 1 C AND D 2 B OR C AND DG A B AND NOT C OR D AND A NOT C B AND NOT C D AND A B AND NOT C OR D AND A PON A NOT A OR B AND C OR C AND NOT D OR B a B AND C AQ OR BG AND C NOT AQ OR BG AND C NOT DG CQ AND NOT DG NOT A OR BG AND C OR C AND NOT D ERO A OR BG AND C OR C AND NOT D OR NO a 2owNm Boolean values can be combined with integer values by using either boolean or arithmetic operators In combining the two data types note the following guidelines e When a boolean value is combined with an integer value using boolean operators or arithmetic operators the result is always in integer 5 5 5 4 e When a boolean value is combined with an integer value the boolean is always treated as the value zero 0 if itis FALSE and one 1 if itis TRUE The following statement illustrate
134. print occurs but to leave it at the end of the line This is useful when an INPUT statement immediately follows the PRINT statement In Enhanced BASIC all decimal numbers have 8 digits of significance Therefore only 8 digits can be printed for the number whether it is very small or very large To print very large numbers or very small numbers a scientific or exponential format must be used For example the numbers 1 7634736E 17 and 2 8876582E 09 only have 8 digits of precision printed but use scientific notation to show the number of decimal places to the right or left where the real decimal point would be placed In BASIC unformatted using the PRINT statement instead of the PRINT USING statement decimal numbers are printed according to the following rules 1 BASIC will attempt to locate the decimal point such that there is no need for an exponent Example 123 45678 or 0 12345678 or 1234567 8 2 If this is not possible the number will arbitrarily be printed with one number to the left of a decimal point and an exponent or scientific notation will be used Example 3 7836524E 12 or 4 8873633E 17 3 Ifthe number is a true fraction and requires no exponent there will always be a leading zero in front of the decimal point Example 0 98272635 or 0 18735354 or 0 87725433 PRINT USING allows you to print numeric fields with a specific number of decimal places and field width PRINT USING logical device number fo
135. r just as in a normal integer constant 0987H 987H 2 The eight Ns represent the 8 hexadecimal hex digits in the range 0 through F 3 The trailing character H indicates that the number is hexadecimal and is always required The following are correct hexadecimal numbers 098FCE2H OFFEEC1H OBEEFC2H 400B3C2H 99987H The following are invalid hexadecimal numbers and the reasons that they are invalid FECOO2H Does not start with zero in front of the alpha hex character F 9800BE Does not end with H 3FFFFE342H Larger than maximum double integer BASIC hexadecimal numbers must fall in the range from zero to OFFFFFFFFH Hexadecimal constants are stored by BASIC exactly as they are specified with leading zeros filling in any of the eight hex digits not specified for a double word or 32 bit format This means the numbers must be specified as 2 s complement signed numbers For example BASIC will load the hex constant 0F371H as 0000F371H It will not sign extend the number to OFFFFF371H If the number OFFFFF37H is desired the entire 8 hex digits must be specified If you specify a number outside the appropriate range OFFFFFFFFH the compiler will print an error on the screen 4 9 4 2 3 4 2 4 4 10 Real Constants A real constant is a number with a decimal point For large numbers use scientific notation in the following general format a sign digits a decimal point digits an E a sign and digits
136. r more tasks For example task 1 could perform some initialization and then INPUT from a channel If the channel is empty the task will be suspended until another task PRINTS to the channel Task 1 could then become active again when one of several other tasks PRINTS information into the channel such as error or warning conditions Task 1 could then record this information and INPUT from the channel again suspending the task until more information is available The following are two examples of OPEN CHANNEL statements and the corresponding INPUT and PRINT statements from that channel Task ABC 10 OPEN CHANNEL FOR OUTPUT AS FILE 1 TYPE LI S R 95 PRINT 1 GAIN 13 SPEED9 6 MESSAGES RATIO Task XYZ 15 OPEN CHANNEL FOR INPUT AS FILE 1 TYPE LI S R DEPTH 10 75 INPUT 1 NEW_GAIN CALC_SPEED TEXT RATIO Note that the PRINT and INPUT statements have the same format here as when they are used to access a device except that OPEN CHANNEL is used to define the logical channel number instead of OPEN device_name See section 6 8 6 21 6 7 6 7 1 6 22 Tasks do not have to call the variables by the same names when reading and writing to the channel they simply write an integer quantity for an integer position in the template and read an integer quantity into an integer variable Note that just like the normal print operation the print list of items may contain any kind of expression which will be evaluated
137. r real No buffer space can be allocated for I O Not assigned Invalid re configuration Missing line number Bad device on input Wrong type for double integer No device address Number greater than 24 bits Not open for write No device address Attempt to execute a null opcode Unbalanced GOSUB RETURN NEXT does not match loop variable in FOR statement NEXT does not match FOR Bad START statement format Bad hardware event call Undefined opcode Stack overflow No channel buffer space STOP executed Opcode not assigned No event address defined GOSUBs not balanced Bad VAL function conversion 888 BCD output number greater than 9999 889 Bad bit number in function call 890 Bad option number in function call 891 Invalid GATEWAY transfer call Note Check returned status variable of GATEWAY CMD OKQ function decode status error numbers as follows 01 through 07 are MODBUS exception codes Decimal 01 Illegal function code 02 Illegal starting register 03 Illegal data 04 PC aborted 05 Not assigned 06 PC busy 07 Not assigned 08 Illegal data in response message 09 Response timeout error 20 Dual port address error 21 Gateway card not found or not accessible 22 No available Gateway channel 23 Illegal register number 24 Illegal number of register 25 Illegal command number 26 Illegal command number register set 27 Illegal register number number of registers 28 Illegal device address 892 BLOCK MOVE invalid so
138. real format TAN Function Format TAN expression where expression must be of numeric integer or real type It represents radians The function returns a real value equal to the tangent of the input The result is in real format ATN ATAN Function Format ATN expression or ATAN expression where expression must be of numeric integer or real type The function returns a radian value equal to the arctangent of the input The units are in radians 7 5 7 6 7 7 7 8 7 9 LN Function Format LN expression where expression must be of numeric integer or real type The function returns a real value equal to the natural log of the input The result is in real format EXP e x Function Format EXP expression where expression must be of numeric integer or real type The function returns a real value equal to e expression where e is 2 71828 The result is in real format SQRT Function Format SQRT expression where expression must be of numeric integer or real type The function returns a real value equal to the square root of the input and the same data type as the input ABS Function Format ABS expression where expression must be of numeric integer or real type The function returns a real or integer value equal to the absolute value of the input and the same data type as the input CHR Function Format CHR expression where expression must be of
139. riables that are defined in the rack configuration and are therefore accessible to all application tasks in the rack There are two types of common variables those that refer to memory locations and those that refer to actual physical I O locations The two types are defined differently in the configuration for the rack Common memory variables can be of any data type They may be read to or written from Common I O variables are long integer integer or boolean variables that represent actual physical I O locations Common I O variables that represent inputs may be read but not written to I O variables that represent outputs may be read or written to All BASIC and Control Block tasks that need to access common variables can do so by using the BASIC statement COMMON or GLOBAL For Ladder Logic PC tasks the editor prompts for whether the variable is local or common when the task is being created At least one task in the rack should also initialize common memory variables i e assign values to them if they need to be at a known state other than 0 The value of common variables at the time of initial task installation depends upon whether the variable references memory or physical I O locations Common memory variables are always 0 at task installation Common O variables that represent outputs are always 0 Common I O variables that represent inputs are always at their actual state After a STOP ALL condition or a power failure fol
140. rmat 258 Unrecognized name for control block 259 Missing END statement in control block task 260 Not assigned 261 Variable used in control block not defined 262 Bad literal value for KI KP or KD 263 Bad WLD KP C value See AutoMax Control Block Language Instruction Manual J 3676 264 Bad literal value for DEAD BAND MAX CHANGE or LOOP TIME 265 Invalid data type for literal in control block 266 Incomplete input pairs or input output pairs in a control block 267 Bad SCALE REQUIRED SAMPLES or MAX COLUMNS Value 268 Bad specification for array in control block 269 Control block not the only statement for that line number 270 CML specified literal field out of range 271 SCAN LOOP block not allowed with CML block 272 Integer literal field too large 273 Invalid parameter keyword in control block 274 Calculated K value out of range 275 Literal symbol too long 276 Required control block field missing 277 Required control block literal missing 278 Control block field must be literal 279 Control block field must be variable 280 Non contiguous inputs input pairs or input output pairs in control block 281 Missing SCAN LOOP block in control block task 282 Signed boolean literal or numeric variable not allowed 283 WLD value out of range 284 Invalid value for Lead Lag W 285 Invalid value for WM 286 Invalid value for WLD 287 Word size out of range 288 Array specified has too many subscripts 289 Integer literal gt
141. rmatted print list where logical device number the logical number assigned to a device PRINT USING to a channel is not permitted during an OPEN statement If no device number is given default device is PORTA on the Processor module on which the task resides Most application task I O can be handled through the default port 6 37 formatted print list list of formatted data fields The individual formatted data fields have the following form format type field width variable where format type Left Justify the print expression Right Justify the print expression Center the print expression in the field Load leading zeros in front of the print expression Print the numeric field in a decimal o NODT format lt field_width gt The field width has only one part if the format type is L R C Z in which case the field width is an integer or integer expression from 1 to 132 If the decimal format D is used the field width has 2 parts lt integer1 gt lt integer2 gt Integer is the total field width for the result This includes the minus sign if any the number part to the left of the decimal point the decimal point and any number on the right of the decimal point This total field may be in the range 3 to 132 Integer2 specifies the number of decimal places to the right of the decimal point to be printed This number may be in the range 0 to 26 Integer1 and integer2 may be eit
142. rol Block Tasks The following BASIC statements are supported in UDC Control Block tasks CLR ERRLOG COMMON END FOR NEXT GOSUB GOTO IF THEN ELSE INCLUDE LET LOCAL ON ERROR REM OR RESUME RETURN SET MAGNITUDE The following BASIC functions are supported in UDC Control Block tasks ABS ATAN BCD_IN BCD_OUT COS EXP LN ROTATEL ROTATER SHIFTL SHIFTR SIN SQRT TAN TST_ERRLOG WRITE_TUNE The following expressions are supported in UDC Control Block tasks Addition Unary Subtraction Unary Multiplication Division mt Exponentiation AND Logical AND OR Logical OR XOR Logical exclusive OR NOT Unary boolean operator performs a boolean complement Equal to Less than gt Greater than lt Less than or equal to SS Greater than or equal to lt gt Not equal to gt lt Not equal to D 1 Appendix E AutoMax Processor Compatibility with Versions of the AutoMax Programming Executive The list that follows shows which AutoMax Processor modules can be used with the AutoMax Programming Executive software AutoMax Programming Executive Software Version 1 0 M N 57C304 57C305 M N 57C306 57C307 updates Version 2 0 M N 57C390 57C391 M N 57C392 57C393 updates Version 2 1D and later M N 57C391 M N 57C393 update Version 3 0 M N 57C395 M N 57C397 update Version 3 1 M N 570395 M N 57C397 update Version 3 3 and later
143. rton is a registered trademark of Peter Norton Computing Inc MODBUSS is a registered trademark of Gould Inc Data Highway is a trademark of Rockwell International VT100 is a trademark of Digital Equipment Corporation DEC IBM XT and AT are trademarks of International Business Machines Toshiba is a trademark of Toshiba America Microsoft Windows and MS DOS are trademarks of Microsoft Reliance AutoMax and AutoMate are registered trademarks of Rockwell International Shark ReSource and R Net are trademarks of Reliance Electric Company or its subsidiaries 1 0 2 0 3 0 4 0 5 0 6 0 Table of Contents Introduction i e ise ehe ec nh n OR a RC 1 1 1 1 Compatibility with Earlier Versions sseseeseese 1 1 1 2 Additional Information 0 cee 1 2 1 3 Related Hardware and Software 0 cece eee ee 1 2 Programming For AutoMax Systems seeeseeee 2 1 24 Configuration isses e PER bead RE d eg 2 1 Version 3 0 and Later SysteMS 0 0 0 cece ees 2 1 Version 2 1 and Earlier Systems 0 0 0 c cece eee ee 2 1 2 2 AutoMax Application Tasks 0000 e eee 2 2 2 3 Universal Drive Controller Application Tasks 2 3 Structure Of An AutoMax Enhanced BASIC Program 3 1 3l Line Format 253 eoe np EE rra enr bet t th eerie o RO 3 1 3 2 Multi Statement Lines asena 3 2 3 3 Multi Line Statements
144. s Rockwell Automation 6040 Ponders Court Greenville SC 29615 4617 USA Tel 1 864 297 4800 Fax 1 864 281 2433 Europe Middle East Africa Rockwell Automation Br hlstrafte 22 D 74834 Elztal Dallau Germany Tel 49 6261 9410 Fax 49 6261 17741 Asia Pacific Rockwell Automation 55 Newton Road 11 01 02 Revenue House Singapore 307987 Tel 65 6356 9077 Fax 65 6356 9011 Publication J 3675 6 April 1998 Copyright 2002 Rockwell Automation Inc All rights reserved Printed in U S A
145. s a formatted one of L42 INTEGER which is legal Unformatted print expressions may be mixed with formatted expressions in PRINT USING However an unformatted PRINT statement may not contain formatted print fields If an unformatted print expression is used in a PRINT USING statement it will follow the same rules for zoning as the PRINT statement Commas or semicolons may be used to separate fields in a PRINT USING statement the same way as in the PRINT statement If formatted fields are used back to back they are not zoned but get their format information from the format type they are printing L R C Z D If a non formatted field follows a formatted field and they are separated by a comma the non formatted field will follow the same rules as the normal PRINT statement it will zone the unformatted value 6 8 5 IOWRITE Statement Accessing Foreign I O See J 3649 J 3750 or J2 3045 for the requirements for using foreign modules in an AutoMax system Once it is determined that all the requirements have been met you can use the IOWRITE statement to write to the foreign modules The IOWRITE statement can also be used to write to AutoMax Modules that have not been configured The base address of each slot in an AutoMax chassis is slot 0 Address Range 200000 20FFFF Hex slot 1 Address Range 210000 21FFFF Hex slot 2 Address Range 220000 22FFFF Hex slot 3 Address Range 230000 23FFFF Hex slot 4 Address Ran
146. s these rules A SYSTEM DOWNQ SPEED REFERENCE 2 3376 The value of this statement will be 0 if SYSTEM DOWNQ is FALSE or SPEED REFERENCE 2 3376 if SYSTEM DOWNQ is TRUE When a boolean operator is used to combine the two different data types it performs a bit wise or bit for bit operation on the two values treating the boolean as either an integer one 1 or zero 0 LOWER_BYTE ANALOG_IN AND OFFH This operation will mask off the upper 8 bits of the value ANALOG_IN which can be useful when manipulating integers as binary data Relational Expressions It is often necessary in BASIC to compare different values and based on the result of that comparison perform one of several actions These comparisons are done with relational operators and are usually used in conjunction with the IF THEN statement to create conditional transfers or conditional executions of different parts of a program Table 5 4 lists the valid relational or comparison operators and their meanings In forming relational expressions similar data types must be compared i e numeric types must be compared to other numeric types It would be illegal to compare a boolean or integer expression to a string expression using a relational operator Table 5 4 Relational or Comparison Operators oos sammo mmes 5 6 5 5 The following are relational expressions A gt B A96 3 16 lt gt 32 A 25 13 B gt SPEED
147. sion arrays are allowed value is the variable that has the value to write This function accepts a variable name as a string expression and a value to write into the variable The string that defines the variable name must have a suffix as follows e Booleans 926 Integers Double integers No suffix Reals If specifying an array element the subscript must be after the data type character if there is one If the data type of the variable as defined in the string vn is different than that of VALUE an error is generated Only common variables can be accessed Values Returned 1 Success 22 Variable not found 23 Data type mismatch 24 Variable forced For example VARIABLE NAMES SET POINTS 17 VALUE 12 345 STATUS WRITEVAR VARIABLE NAMES VALUE 7 40 7 41 FINDVAR Function This function requires the AutoMax operating system with the Ethernet option Format FINDVAR varname where varname is a string expression for the name of the variable to find This function accepts a variable name as a string expression and returns a pointer to that variable This may then be used in the SENDL and RECVL functions Booleans Integers Double integers Strings No suffix Reals If specifying an array element the subscript must be after the data type character if there is one Values Returned gt 0 Pointer to Variable 22 Variable not found For example to find a pointer
148. specified by GOTO and continues the program from that point The following is the GOTO statement format GOTO line number or GO TO line_number where line number next program line to be executed can be an integer constant or integer expression The specified line number can be smaller go backward or larger go forward than the line number of the GOTO statement 6 7 6 8 In the following example 30 GOTO 110 BASIC branches control to line 110 BASIC interprets the statement exactly as it is written go to line 110 There are no rules or conditions governing the transfer In the sample program below control passes in the following sequence e BASIC starts at line 10 and assigns the value 2 to the variable A96 e Line 20 sends BASIC to line 40 e BASIC assigns the value A B to variable C96 e BASIC ends the program at line 50 e Line 30 is never executed e 10 LET A96 2 20 GOTO 40 30 LET A B 13 40 LET C A B 50 END The GOTO statement must be either the only statement on the line or the last statement in a multi statement line If you place a GOTO in the middle of a multi statement line BASIC will not execute the rest of the statements on the line 25 LET A B 178 GO TO 50 PRINT A In the above statement BASIC does not execute the PRINT statement on line 25 because the GOTO statement shifts control to line 50 If a remark statement is specified in the line number to which c
149. stant an integer or a double integer If var is an array and len is zero the length to send is the size of the array An error is generated if len 6 is greater than the size of the array This function causes a message to be sent to the destination as defined by the socket number If a TCP socket is specified it must be connected If the connection was established with an ACCEPT the destination is the station that established the connection Values Returned gt 0O Number of bytes transferred 2 ENI not initialized 9 No buffer space 15 Bad socket number 17 Message too long UDP gt 1472 ETH gt 1500 18 Zero length for non array 26 Array is not single dimension 32 Beyond end of array 102 Socket not connected For example XMIT_LEN SEND SN SET_POINTS MSG_LEN where SET_POINTS is the name of an array 8 5 8 6 8 7 SENDL Function Format SENDL sn list where sn 6 is the number of the socket through which the message is to be sent This is the value that was returned from the SOCKET or ACCEPT function This can be specified as a simple variable or as an element of an array list is a single dimension double integer array whose size is limited only by memory capacity The values in this array define where to get the data to send No subscript is given on this parameter Beginning at list 0 the even elements of the array contain pointers to the data to s
150. stem Error Codes 2060 Bad oN in NOTCH block 2061 Bad Q value in NOTCH block 2062 ResN or resD out of range 2063 ZetaN or zetaD out of range 2064 LIM BAR is out of range 2065 TRIP TIME is out of range 2066 THRESHOLD is out of range B 12 Appendix C Hardware Interrupt Line Allocation Current Minor Loop CML tasks or tasks that use BASIC hardware EVENT statements require Processors to allocate hardware interrupt lines on the rack backplane This is because some portion of task execution depends upon receiving a user defined hardware interrupt from another module in the rack e g a Resolver Input module This appendix will describe the basic method by which interrupt lines are allocated See the Control Block Language instruction manual J 3676 for more information on CML tasks Because the number of interrupt lines is limited to four it is necessary to take into account the rules by which they are allocated in order to prevent errors when application tasks are put into run Each of the four interrupt lines can service one of the following a four BASIC language hardware EVENT statements in BASIC or Control Block tasks b one CML task used in racks containing drive cards only Any one Processor module can allocate one of the four interrupt lines for up to four EVENT statements and one line for a CML task CML tasks are limited to two per rack because of drive module configuration restrictions A minimum of one hardwar
151. string MID Substring from center of string VAL Integer value of integer string expression VAL Real value of real string expression FIX Whole part only of real CURPOS Position cursor VT100 CLRSCR Clear the screen VT100 CLRLINE Clear line VT100 IOREAD Read from foreign I O board BIT_SET Test if bit is set BIT CLR Test if bit is clear BIT_MODIFY Modify bit value SHIFTL Shift a numeric field left SHIFTR Shift a numeric field right ROTATEL Rotate a numeric field left ROTATER Rotate a numeric field right BCD_OUT Output the BCD number from a decimal number BCD_IN Input the decimal number from a BCD number BLOCK_MOVE Move a block of integers from to registers GATEWAY_CMD_OK _ Gateway transfer function VARPTR Return pointer to variable TEST_ERRLOG Test state of error log for task READVAR Reads variable returns value WRITEVAR Writes value to variable FINDVAR Returns pointer to variable CONVERT Converts data formats 7 1 7 1 7 2 7 3 7 4 7 2 SIN Function Format SIN expression where expression must be of numeric integer or real type It represents radians The function returns a real value equal to the sine of the input The result is in real format COS Function format COS expression where expression must be of numeric integer or real type It represents radians The function returns a real value equal to the cosine of the input The result is in
152. t branch to the specified EMPTY line number but will operate like the INPUT and GET statements described above Programming Example The following example uses two tasks on the processor to transmit and receive data from port B Software interlocking must be added to each task attempting to allocate the port to ensure that the tasks can determine whether the port setup and baud rate have been initialized prior to opening the port for NON_EXCLUSIVE access KYBD BAS sets the characteristics for port B closes the port re opens the port for NON_EXCLUSIVE access and then sets the software interlocking flag KYBD_RDY TRUE so that DISPLAY BAS can open the port for NON EXCLUSIVE access If USERNAMES is blank KYBD BAS prompts the user to enter his name DISPLAY BAS displays the Hello World message and the user name if USERNAMES is not blank Because the port must be opened by each task that needs access to the port the logical device number used in the OPEN statement must be used with the INPUT PRINT GET or PUT statements 6 31 6 32 KYBD BAS task 100 110 900 910 1000 1100 1110 1120 1200 1210 2000 2100 32767 DISPLAY BAS 100 110 900 910 1000 1010 1200 1210 1220 2000 2100 32767 COMMON USERNAME COMMON KYBD_RDY DISP RDYG USERNAME KYBD_RDY FALSE IF DISP_RDY THEN DELAY 10 TICKS GOTO 1000 OPEN PORTB AS FILE 2 SETUP 0800H 9600 CLOSE 2 OPEN PORTB AS
153. tement in a BASIC program is as follows line statement statement line number keyword body terminator 10 LET SPEED GAIN 3 CR The line number is a label that distinguishes one line from another within a program Consequently each line number must be unique The line number must be a positive integer within the range of 1 to 32767 inclusive Line numbers are required for the following reasons 1 To determine the order in which to execute the program 3 1 3 2 3 2 2 To provide a reference for conditional and unconditional transfers of control GOTO GOSUB etc Line numbers can be consecutive numbers 1 LET M 23 2 LET Z 11 3 LET K Z M 4 END However writing line numbers in increments of 10 allows for inserting additional statements between existing lines 10 LET M 23 20 LET Z 11 30 LET K Z M 40 END Multi Statement Lines In BASIC one line can be either one statement or several statements always terminated by pressing the RETURN CR key A single statement line consists of 1 Aline number from 1 to 32767 10 2 A statement keyword PRINT 3 The body of the statement A B 4 Aline terminator lt CR gt Example of a single statement line 10 LET SPEED GAIN 3 12 lt CR gt A multi statement line more than one statement on a single line requires a backslash or a colon to separate each complete statement The backslash or colon statement separator must be typed after every
154. th the Executive software All other Processor ports in the rack are available for use by application tasks The PC3000 Processor also has two serial communication ports The 25 pin D shell port works exactly like the PROGRAMMER PORT B port on the rack based Processor described above The 9 pin port works like the PORT A port on the rack based Processor On the PC3000 however both ports may be available for communication with external devices depending on the setting of jumper JP2 Refer to the PC3000 User Manual J2 3096 for more information on setting the jumper Differences Between Allocating Ports A and B How you use the OPEN statement depends on whether it is being used with port A or port B For port A the OPEN statement is only used to change the default setup and baud rate for the port For port B the OPEN statement is used to change the default setup and baud rate and to allocate the port Port B must be allocated using the OPEN statement prior to using any of the serial port statements to communicate through the port OPEN Statement Format Used To Modify Port Setup Characteristics OPEN device name AS FILE logical device number SETUP specs baud rate OPEN Statement Format Used To Set Port Allocation Status OPEN device name AS FILE zlogical device number ACCESS status where device_name The pre assigned name of the port PORTA for port A or PORTB for port B logical_device_number The number ass
155. the SET and WAIT statements The EVENT statement defines a symbolic name for an event The SET and WAIT statements act on that event The EVENT statement has two formats one for a hardware event and one for a software event Software Event EVENT NAME event name Hardware Event EVENT NAME event name amp INTERRUPT STATUS I O variable name amp TIMEOUT timeout count 6 17 where event name symbolic name given to that particular event and the handle for further references to that event not followed by a terminating character l O variable name name of a symbol referenced as common in the application task and defined in the configuration task by an IODEF statement This variable is defined in the configuration task to point to the address of an interrupt register on a hardware module that supports hardware interrupts timeout count the longest time that should pass before a hardware event occurs This is used as a safeguard in the case where something has happened to the piece of hardware that generates the event If this timeout period is exceeded before the event is triggered the system will automatically stop the task The number specified for the timeout period must be an integer in the range 1 32767 and will always refer to the number of TICKS The tick rate is user definable for each Processor being used The range is 0 5 milliseconds to 10 milliseconds The default tick rate is 5 5 milliseconds
156. the five types of constants that can be used in AutoMax along with their size limitations 1 Single and double integer constants whole numbers 2 Hexadecimal constants whole numbers in base 16 or hex format Real decimal constants String constants alphanumeric and or special characters 5 Boolean constants Integer Constants An integer constant is a whole number with no fractional part For example the following numbers are all integer constants 29 8 3432 1 12345 205 The following are not integer constants 1 6 08 754 2 5 2041E 06 341 2 95 3 Recall that BASIC integer constants must fall in the range 32768 to 32767 when used as single 16 bit integer variables ending in or in the range 2147483648 to 2147483647 when used as double 32 bit integer variables ending with If you specify a number outside the appropriate range BASIC prints a compiler error message telling you to replace the number with one within the proper limits 4 2 2 Hexadecimal Constants A hexadecimal constant also specifies an integer value in base 16 or hex hexadecimal format A hexadecimal number has three parts ONNNNNNNNH where 1 Aleading zero 0 is required if the first digit of the hexadecimal number is an alphabetical character A through F so that BASIC can distinguish it as a number and not a variable name A leading zero may also be used in front of a numeric character in the hexadecimal numbe
157. ther variables that must be accessible to all Processors in the rack One configuration task is required for each rack that contains at least one Processor The configuration task must be loaded onto the Processor s in the rack before any application task can be executed because it contains information about the physical organization of the entire system 2 1 2 2 2 2 The configuration task does not actually execute or run it serves as a central storage location for system wide information Note that local variables those variables that do not need to be accessible to more than one task do not need to be defined in the configuration task Refer to J 3649 for more information about configuration tasks AutoMax Application Tasks AutoMax Processors allow real time concurrent operation of multiple programs or application tasks on the same Processor module The tasks are executed on a priority basis and share all defined system data Application tasks on different Processor modules in the rack are run asynchronously Each task operates on its own variables The same variable names may be used in different tasks but each variable is only recognized within the confines of its task unless it is specifically designated a COMMON variable Changing local variable ABC designated LOCAL in one task has no effect on variable ABC in any other task Multi tasking in a control application can be compared to driving a car The programmer c
158. tiple of 15 characters If the semicolon is not used BASIC will pad the front of the escape sequence with spaces which will most likely not have the desired effect to move the cursor rather than to print something Further 7 7 7 8 7 22 7 23 information about printing and zoned fields can be found in PRINT PRINT USING Statements in section 6 8 CLRSCRS Function Format CLRSCR amp option where option is an integer variable or integer expression that defines the clear screen option to perform CLRSCRS returns an ASCII string or escape sequence This escape sequence will clear various parts of a screen on a terminal that recognizes the ANSI standard erase in display escape sequence ESC option J The option values are as follows 0 Erase from the active cursor position to the end of the screen inclusive 1 Erase from the start of the screen to the active cursor position inclusive 2 Erase all of the display For example CLR_SCREEN 2 PRINT CLRSCR CLR_SCREEN Clears entire display screen When using the CLRSCR function with the PRINT statement a semicolon should always be located in front of the function call to tell BASIC not to put the string generated by the function call ina zoned field a field that is a multiple of 15 characters If the semicolon is not used BASIC will pad the front of the escape sequence with spaces which will most likely not have the desired effect to m
159. to 0201H 8 Long word swap 01020304H to 04030201H 9 Motorola to IEEE followed by long word swap 10 Long word swap followed by IEEE to Motorola All other values are illegal This function is used to convert between data formats used by AutoMax and data formats used by other computers Values Returned 1 Success 26 Array is not single dimension 32 Beyond end of array 33 Illegal mode value 34 Zero number of words 35 Odd number of words on long word swap 36 Number of words gt dest data type when dest memory is on CPU For example to move 30 real numbers beginning at SRC ARRAY 10 to DST ARRAY 20 converting from Motorola to IEEE and inverting the byte order STATUS CONVERT SRC ARRAY 10 DST ARRAY 20 15 9 RTS_CONTROL Function Format RTS_CONTROL n control val 6 where n is the logical number assigned to the port in the OPEN statement control val 6 input constant of variable integer is non zero to turn the RTS signal on and 0 to turn the RTS signal off This function provides control of the RTS modem control signal If hardware handshaking is enabled and RTS is set true using this function RTS will remain true after all characters have been transmitted so that the application task can set it false after a delay Refer to the OPEN statement for a description of the purpose of the RTS signal 7 43 7 44 This function returns false only under the following conditions e n is
160. to specify only a starting variable name for the destination or source variable list and a length of registers to be transferred This eliminates having to define each variable explicitly in the rack configuration and then transferring the data one variable at a time with a long list of LET statements The BLOCK_MOVE function checks the individual register values as they are moved if any of the values are FORCED the forced value will be used Thus the execution time for the function varies considerably and is dependent on the number of variables in the current force list maximum of 16 and whether any of those variables are in the source or destination range of the BLOCK_MOVE variables In the following example 32 registers are moved IF NOT BLOCK MOVEG NETW 1 3296 NETW 2 3296 32 THEN STOP Keep in mind the following when forcing variables and overlaying variable definitions an integer is overlayed over several booleans 1 If boolean variables are forced within a forced integer double integer or real variable the integer forced value will prevail For example If A and B are I O defined as bits within XYZ XYZ and A and B are all forced and XYZ is used as the source variable in a BLOCK MOVE function the result will be that the XYZ forced value will take precedence over the A and B forced values 7 35 2 If the destination is forced and the source is forced the destination forced value will prevail The BLOCK MOV
161. to the next item in the data list every time a READ is done Once you have read all the items in the data list this internal pointer points to the end of the data list If you want to read starting with the first DATA statement the RESTORE statement tells BASIC to reset its pointer to the beginning of the DATA statements The RESTORE statement has the format RESTORE or RESTORE line number expression 6 9 6 9 1 The effect of the first format with no line number is to move the DATA statement pointer back to the first DATA statement in the program The effect of the second format with the line number is to reset the DATA statement internal pointer to the DATA statement at the line number specified following the RESTORE This line number may be specified either by an integer constant or integer expression There must be a DATA statement at the line number that follows the RESTORE or the system will generate a STOP ALL error A RESTORE can be used at any time not only when all the DATA statements have been read or at the end of the data Error Handling During the execution of a BASIC task error conditions can occur that are not severe enough to stop the task but are worth noting All errors that happen during execution are logged in the task error log accessible through the on line menu of the Programming Executive software If the error is severe it is displayed on the two 7 segment LEDs on the Processor module M N 57C430 57C
162. ts to use for the TCP protocol defines the number of sockets to use for the UDP protocol defines the number of sockets to use for Raw Ethernet The ENI_INIT function commands the Ethernet Network Interface to go through its initialization The ENI supports three types of protocols TCP UDP and Raw Ethernet Up to 64 channels sockets can be assigned to each ENI Part of the initialization selects how may sockets to allow for each protocol The green LED on the front 8 1 8 2 8 2 8 3 of the ENI will turn off for approximately 10 seconds while the initialization is performed Values Returned 1 Success 1 ENI failed self test 8 Bus error 10 Error allocating interrupts 11 Bad slot number 12 Bad Internet address 13 Total number of sockets gt 64 For example STATUS ENI_INIT 4 128 0 0 10 32 10 3 SOCKET Function Format SOCKET slot type where slot is the logical slot the ENI is to be in This can be a variable or a constant The only legal values are 2 or 4 type is used to select the protocol for this socket Legal values for type are 1 for a TCP socket 2 for a UDP socket 3 for a Raw Ethernet socket This function will find an available socket of the requested type If successful the value returned is the number of the socket allocated All subsequent function calls to communicate with the ENI use this socket number to select the socket to talk thro
163. ue in limit a where tunable is the tunable variable It can be an integer double integer or real new value is the new value for the tunable variable It can be a variable an expression or a literal value The compiler will report an error if tunable and new value are not the same data type 7 21 7 22 in limit is true if new value is less than or equal to the tunable variable s high limit and greater or equal to the tunable variable s low limit This parameter is optional This function provides the ability to change the current value of tunable variables This function will respect the tunable variable s high and low limits The compiler will disallow use of any other statement function or control block to write to tunable variables The modified flag for the task in the on line task list will be set when the task executes this function On the UDC module the new current value will be written to non volatile flash memory The new value will not be written to flash memory if it is the same as the old value On the UDC module if the tunable variable is a Power Module Interface PMI gain then all the PMI gains will be multiplexed with the setpoint data to the PMI when the tunable value is changed The gains will not be sent if the new value of the tunable variable is the same as the current value Note that frequent tunable updates via this function may slow the response time of the Programming Executive
164. ugh Values Returned gt 0 The socket number allocated 2 ENI not initialized 3 Did not create socket 9 No buffer space 11 Bad slot number 14 Bad socket type For example SOCKET NUM 6 SOCKET 4 1 BIND Function Format BIND sn port where sn is the number of the socket you want to bind This is the value that was returned from the SOCKET 8 4 function This can be specified as a simple variable or as an element of an array port is the local port number you want to give to the socket Begin assigning TCP and UDP port numbers at 5000 For raw Ethernet sockets this value is used to select the value of the 16 bit packet type in the message header This function assigns a local port number or Ethernet packet type to a socket Values Returned 1 Success 2 ENI not initialized 4 Did not bind socket 9 No buffer space 15 Bad socket number For example STATUS BIND SN 5000 CONNECT Function Format CONNECT sn addr port where sn is the number of the socket you want to connect to a destination This is the value returned from the SOCKET function This can be specified as a simple variable or as an element of an array addr is the destination Internet or Ethernet address you want to connect to See ENI_INIT for applicable rules for Internet addresses Ethernet addresses are 12 digit Hex number strings port is the destination port number you want to c
165. urce parameter 893 BLOCK MOVE invalid destination parameter 894 BLOCK MOVE invalid transfer size parameter 895 RESUME without executing ON ERROR statement first 956 UDC tick rates do not match 958 PMI gains out of range 959 UDC Processor error 960 Floating point format conversion error 961 Spurious interrupt detected from Multibus 962 CCLK must be enabled to execute task 963 OS background not completing 964 Flash update not completing in time check utilization Corrective action For error code 757 check real and double integer value ranges Error Codes Caused By UDC Modules 1000 SCR fault 1001 M contactor fault 1002 not used 1003 Instantaneous overcurrent fault 1004 Synch loss AC line voltage 1005 Conduction timeout 1006 Field loss fault 1007 Tach loss fault 1008 Broken wire in resolver 1009 not used 1010 Overspeed trip 1011 Power Technology module fault 1012 PMI power supply fault 1018 PMI bus fault 1014 UDC run fault 1015 Fiber optic link com fault Corrective action These errors reflect the status of the drive fault register A 202 B 1202 on the UDC module See S 3006 for more information Serial I O Error Codes The possible causes of serial I O errors include A hardware problem with device connected to serial ports on the face of the Processor module 1064 EIA control carrier detect lost 1065 Parity error when enabled 1066 Overrun error 1067 Framing error Distributed Power Sy
166. used to define three kinds of variables all of which are local or accessible to only the task in which they are defined This means that even if the same variable name is used in another task the values of the two variables are totally independent of each other Any operation performed within a task on the variable has no effect on the variable in the other task The following types of variables are defined using the LOCAL statement 1 Simple variables used only by the task These variables can be of any data type and can be written to or read from 2 Subscripted array variables used only by the task These variables can be of any data type and can be written to or read from 6 1 6 2 3 Tunable variables These variables can be double integer integer or real type and can be read from but cannot be written to by any means except through the Programming Executive software running on the personal computer Note that tunable variables used to define gain parameters affected by auto tuning on the Universal Drive Controller UDC module will also be written to by the operating system on the UDC See instruction manual S 3006 for more information on UDC tasks LOCAL Simple Variable Format LOCAL variable where variable simple variable of any type i e double integer integer real string or boolean more than one variable can be defined with one statement by separating the variables with commas examples 10 LOCAL
167. will always return a TRUE function status since they are unconditional operations Boolean values can be used as the option number for the function This will result in an option 0 if the boolean is FALSE or in an option 1 if the boolean is TRUE This can be used to change the state of a bit to match another boolean For example IF NO_FAULTS THEN SYSTEM RUNNING Q TRUE BIT_VALS 0005H IF BIT_MODIFY BIT_VALS 2 SYSTEM_RUNNING THEN 300 In this example bit 2 of BIT_VALS will be given the same value as the boolean SYSTEM_RUNNING SHIFTL Function Format SHIFTL variable shift count where variable is a single or double integer variable shift count is the number of bit positions to shift the integer expression 0 to 15 for single integer 0 to 31 for double integer This function returns an integer value equal to the integer expression that was input shifted the specific number of binary 7 29 7 30 7 12 places to the left Bit 15 or bit 31 if double integer comes off the end The binary places vacated by the shift are filled with zeros For example LSBITS 0 496 SHIFTL INPUT_CARD 12 AND OF000H In this example a 16 bit value is read from an input module The least significant group of 4 bits bits O to 3 are shifted to the left into the most significant position The remaining lower bits are masked off by anding with hex value OF000 SHIFTR Function Format SHIFTR variable shift_
168. will operate When linger is enabled and there are messages in any transmit or receive queues the ENI will process those messages before doing the shutdown Non Blocking 0200h 0 Non Blocking is disabled Default 1 Non Blocking is enabled This option is used to select how the RECV and RECVL function will operate If Non Blocking is enabled and no message has arrived for the RECV or RECVL control is returned to the application program and an error code 101 is returned by the RECV or RECVL Connected 0800h 0 Socket not connected 1 Socket connected This option is only used on TCP sockets It allows the application program to test if a connection is established without doing a SEND or RECV Values Returned 1 Success 2 ENI not initialized 6 did not get option 9 No buffer space 15 Bad socket number 20 Bad option number 100 No buffer space 8 12 For example to test if the socket is connected STATUS GETSOCKOPT 6 SN 0800h OPTION VALUE 6 SHUTDOWN e Function Format SHUTDOWN sn 6 where sn is the number of the socket for which the connection should be terminated This function closes the socket to allow it to be reused at a later time TCP sockets need to be shut down at only one end Either the active or passive side may close the connection The other side will automatically shut down UDP and Raw Ethernet sockets need to be shut down at both ends Values Returned 1 Success
169. wing is a valid remark statement because the remark is at the end 10 A B 23 PRINT A A REMARK The following is an invalid remark statement because the remark is not at the end of the statement 10 REAL 3 57 NEW REMARK PRINT The line number of a remark statement can be used in a reference from another statement such as a GO TO statement BASIC only displays the remarks on the personal computer when you edit the program See the GOTO GO TO statement in section 6 4 6 5 6 3 6 6 Variable Assignment LET SET MAGNITUDE There are two formats for assigning a value to a variable the LET statement and the SET MAGNITUDE statement The LET in an assignment is optional In actuality tasks are more readable without LET in front of the assignment Its use is left to the discretion of the programmer The following is the LET statement format LET variable expression where variable simple A96 or subscripted A96 5 variable of any data type expression can be as simple as a constant or as involved as a complex arithmetic expression See section 5 0 The following are valid LET statements 10 LET SPEED 25 15 LET MESSAGE SYSTEM FAILURE 95 WINDER EMPTY TRUE 25 GAIN_CHANGE GAIN 13 10 A B96 C D 234 15 F96 22 TENSION TENSION 19 7765 amp GAIN 78 12 3 OLD REFERENCE The following are invalid LET statements 10 LET A no variable spec
170. with a loop first initializes a control variable 1 in line 10 It then executes the body of the loop line 20 Finally it increments the control variable in line 30 and compares it to a final value in line 40 Without some sort of terminating condition a program can run through a loop indefinitely The FOR and NEXT statements set up a loop wherein BASIC tests for a condition automatically each time it runs through the loop You decide how many times you want the loop to run and you set the terminating condition The FOR statement has the following format FOR variable expression 1 TO expression 2 STEP expression 3 6 13 where variable simple numeric variable known as the loop index expression 1 initial value of the index can be any numeric expression expression 2 terminating condition can be any numeric expression expression 3 incremental value of the index the STEP size is optional If specified it can be positive or negative if not specified the default is 1 Expression 3 can be any numeric expression The NEXT statement has the following format NEXT variable where variable same variable named in the corresponding FOR statement The FOR and NEXT statements must be used together You cannot use one without the other If you do the program cannot be compiled The FOR statement defines the beginning of the loop the NEXT statement defines the end Place the statements you want repe

J-3675-6, AutoMax Enhanced BASIC Language

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