Anca AMD2000 Series User Manual download pdf (Page 96)

AMD2000 Series - Servo Drive - User Manual

96 DS619-0-00-0019 - Rev 0 ANCA Motion

Equivalent Pseudo Code for Figure 10-5

for i = 0 TO 31

if ( 33350[i] NOT EQUAL 0 ) AND ( *33350[i] IS U16 )

if EtherCAT EQUAL OP

if ( ( *33350[i] BITWISE XOR 33351[i] ) BITWISE AND 33352[i] ) NOT EQUAL 0

33345(bit i) = 1;

else

33345(bit i) = 0;

end

else // eg. SAFEOP, Pre-OP or INIT

if ( ( 33353[i] BITWISE XOR 33351[i] ) BITWISE AND 33352[i] ) NOT EQUAL 0

33345(bit i) = 1;

else

33345(bit i) = 0;

end

else

if EtherCAT NOT EQUAL OP // eg. SAFEOP, Pre-OP or INIT

if 33354(bit i) NOT EQUAL 0

33345(bit i) = 1;

else

33345(bit i) = 0;

end

PHYSICAL DIGITAL OUTPUT(i) = 33345(bit i) XOR 33344(bit i)

end

A note concerning bitwise operations

Truth table:

Input 1

Input 2

Bitwise XOR

Bitwise AND

Bitwise XOR example:

Input 1

0101 1101 1000 1111

Input 2

1110 1010 0001 1010

Bitwise XOR

1011 0111 1001 0101

Bitwise AND example:

Input 1

0101 1101 1000 1111

Input 2

1110 1010 0001 1010

Bitwise AND

0100 1000 0000 1010

1 2 ... 91 92 93 94 95 96 97 98 99 100 101 ... 188 189

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Anca AMD2000 Series User Manual Page 96

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