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SA500 Drive Configuration and Programming

3.6 Application Registers (Registers 300-599, Every

Scan) (Registers 1300-1599, Every Nth Scan)

The application registers are used to pass application-specific data between the

AutoMax Processor and the UDC module.

Memory is allocated for a maximum of 600 application registers. There are 300

registers that can be used every scan (registers 300-599) and 300 registers that can

be used every Nth scan (registers 1300-1599). “N” is defined in register 2001. Note

that the status of application registers is not retained after a STOP ALL.

Application registers 300-599 can be used every scan of UDC tasks. Registers within

this range written to by a UDC task are updated by the UDC operating system from its

local memory to dual port memory after each task is run. Registers within this range

written to by an AutoMax task are read by the UDC operating system from dual port

memory and copied into the UDC local memory at the beginning of each scan in order

to have a consistent context for evaluation. See figure 3.1.

Note that the same bits or registers must not be written to (and used as outputs)

by both an AutoMax task and a UDC task.

Application registers 1300-1599 can be used every Nth scan of the UDC task. Nth

scan registers should be used when it is necessary to synchronize one or more UDC

tasks to an AutoMax task.

The registers within this range (1300-1599) that are written to by a UDC task are

updated by the UDC operating system from its local memory to dual port memory at

the end of the scan that occurs before the Nth scan (N-1). At that time, an interrupt will

be generated by the UDC operating system to indicate that new data has been written

to the dual port memory. Refer to the 2000-series registers for more information on

interrupts. An AutoMax task must have defined a hardware EVENT in order to be able

Figure 3.1 – UDC Task Scan

Input A Run A Output A Input B Run B Output B

UDC Scan*

Feedback From PMI

Command to PMI

*Task B can act on Task A outputs within a scan.

Latch “every scan”

registers that are

inputs to task B

Write “every scan”

registers that are

outputs from task A

Latch “every scan”

registers that are

inputs to task A

Write “every scan”

registers that are

outputs from task B

1 2 ... 67 68 69 70 71 72 73 74 75 76 77 ... 125 126

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