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.hide_gui IN bit
This bit pin hides the classicladder window, while still having the userspace code run. This is usually desirable when modbus is used, as modbus requires the userspace code to run.
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