Creating a module that can control a PowerServo is fine, but what about using it from BSA? What do we need to do? From a user perspective very little. In this example I just created a PLD State Diagram block with 3 input methods and one output method. It is this simple once the underlaying library is set up. It is simple and fast.
Comparing to some classic PLC systems BSA is a dream to work with in development speed, but BSA target far more than these old systems as well.
The only limitation in this case has to do with the servo – normal servoes allows you to set a position, but they give no feedback as to what the actual position is. You do however get the current usage as feedback and we know that if current usage is high it means the servo struggle to reach or hold the set position – this is thanks to the added current sensor on the servo modul.
In a final version we just add the servo modul as a library component that will pop up at left as if it was a build in tool. As we code we will drag lets say 4 servoes into a diagram and code their behaviour. As we deploy the code we need to associate those 4 servo blocks with physical servoes in the config. The servo modules will pop up as unallocated resources and we just need to tell the system what component they are in our diagram. The rest is magic plug & play.