Delta RMC151 - Manual (Page 363)

5 Programming
Notice that although the variable table is broken up into multiple individual files (%MD56,
%MD57, etc.), the COPY function can wrap across these file boundaries. For example,
copying 30 registers to %MD56.250 will place the first 6 items in %MD56.250 to
%MD56.255, and the last 24 items in %MD57.0 to %MD57.23.
An invalid address parameter during compile will trigger a verify error. An invalid address
parameter during runtime will trigger a program fault and stop the current task, and the
copy will not be performed. This applies to src and dst and the entire range as defined by
len.
Multiple COPY statements can be used in a single Expression (113) command, each
copying up to 32 registers. Like all assignment expressions, the COPY statement will
execute completely before going to the next assignment or copy.
Examples
For the examples that follow, use the following variable table. Notice that i and Len are
DINTs.
Variable Tag Name Type
ProfiData DWORD[16]
0 ProfiData[0] DWORD
1 ProfiData[1] DWORD
: : :
15 ProfiData[15] DWORD
16 i DINT
17 Len DINT
18 REAL
19 Move1ReqPos REAL
20 Move1Vel REAL
21 REAL
CurveData REAL[500]
22 CurveData[0] REAL
23 CurveData[1] REAL
24 CurveData[2] REAL
: : :
521 CurveData[499] REAL
Example: Copying values
Copy two values from ProfiData[1] and ProfiData[2] to Move1ReqPos and Move1Vel:
COPY(ProfiData[1],Move1ReqPos, 2);
Example: Writing Curve Data
Writing a curve with 500 registers into CurveData via PROFIBUS. In this example, only 16
registers can be sent to the RMC at a time. A user program would do a loop that transfers
the data from ProfiData[2] through ProfiData[15] in successive copies, with some
handshaking done between each copy. The variable i must be initialized to zero before
starting this loop. The loop assumed to stop when i reaches 500:
Len := MAX(500 - i, 14);
COPY(ProfiData[2], CurveData[i], Len);
i := i + Len;
Using COPY with the ADDR_OFS Function
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