NAME

       ClassicLadder - realtime software plc based on ladder logic

SYNOPSIS

       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]

       loadusr classicladder <file name> [--nogui]

DESCRIPTION

       This  component  consist  of  a  realtime  part  and  a  non-realtime  part  (often called
       'userspace' in the LinuxCNC documentation).  The non-realtime part loads the  programmable
       ladder  description,  while  the  realtime  part  provides the pins.  The file name of the
       configuration can be changed using an argument to the non-realtime part.  By  default  the
       non-realtime  part  provides  a graphical visualisation of the loaded ladder, which can be
       disabled using the '--nogui' option to the non-realtime part.

       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.

PINS

       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.

PARAMETERS

       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

FUNCTIONS

       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).

BUGS

       See http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ClassicLadder_Ver_7.124 for the latest.

SEE ALSO

       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