classicladder − realtime software plc based on ladder logic
loadrt classicladder_rt [numRungs=N] [numBits=N] [numWords=N] [numTimers=N] [numMonostables=N] [numCounters=N] [numPhysInputs=N] [numPhysOutputs=N] [numArithmExpr=N] [numSections=N] [numSymbols=N] [numS32in=N] [numS32out=N] [numFloatIn=N] [numFloatOut=N]
These pins and parameters are created by the realtime classicladder_rt module. Each period (minimum 1000000 ns), classicladder reads the inputs, evaluates the ladder logic defined in the GUI, and then writes the outputs.
classicladder.0.in-NN IN bit
These bit signal pins map to %INN variables in classicladder
classicladder.0.out-NN OUT bit
These bit signal pins map to %QNN variables in classicladder Output from classicladder
classicladder.0.s32in-NN IN s32
Integer input from classicladder These s32 signal pins map to %IWNN variables in classicladder
classicladder.0.s32out-NN OUT s32
Integer output from classicladder These s32 signal pins map to %QWNN variables in classicladder
classicladder.0.floatin-NN IN float
Integer input from classicladder These float signal pins map to %IFNN variables in classicladder These are truncated to S32 values internally. eg 7.5 will be 7
classicladder.0.floatout-NN OUT float
Float output from classicladder These float signal pins map to %QFNN variables in classicladder
classicladder.0.refresh.time RO s32
Tells you how long the last refresh took
classicladder.0.refresh.tmax RW s32
Tells you how long the longest refresh took
classicladder.0.ladder-state RO s32
Tells you if the program is running or not
classicladder.0.refresh FP
The rung update rate. Add this to the servo thread. You can added it to a faster thread but it Will update no faster than once every 1 millisecond (1000000 ns).
See http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadder_Ver_7.124 for the latest.
Classicladder chapters in the LinuxCNC documentation for a full description of the Classicladder syntax and examples
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadder_Ver_7.124