Parker Hannifin GEM6K - Manual (Page 36)

;**** This code is executed on unit #2: **************************
NTID2
; Set unit ID to 2
NTRATE100 ; Set the sharing rate to 100ms and enable this unit
VAR1=1VARSHI1 ; Load the value of unit #1's first shared data (1PE) into VAR1
WRITE"AXIS 1 AT POSITION" ; Report axis 1's current position (the value of VAR1)
WRVAR1
VAR2=8PCEA-3VARSHI2
; Calculate offset position: Subtract synch unit #3's
; VARSHO2 (4PCEA) from the captured encoder position
; of axis #8 (8PCEA).
IF(VAR2>10000) ; If position offset by more than 10000 encoder counts
WRITE"AXIS 20 OUT OF POSITION"
NIF
VARB1=3VARSHI1
; Get unit 3's VARSHO1 information (3AS)
IF(VARB1=B1) ; If axis 3 on unit #3 (axis #19) is in motion
WRITE"AXIS 19 IN MOTION"
NIF
;*************************************************************************
VARSHO
Shared Output Variable for Peer-to-Peer Data Exchange
Type: Variable; Network Product Rev
Syntax: <!>VARSHO<i><=xx>
Units: i = variable number
xx = 32-bit data operand (see list below)
Range: i = 1-8
Default: n/a
Response: VARSHO1: *VARSHO1=PME
See Also: NTRATE, VAR, VARB, VARI, VARSHI
6K 5.3
The VARSHO command is used to set up data to be shared over a peer-to-peer Ethernet connection (i.e., connection between
other 6K or Gem6K products).
Each unit on the Ethernet peer-to-peer network has eight “shared output” variables ( VARSHO1 through VARSHO8 ) with which
it can share with other units the values of its motion attributes, controller status, variables, etc. (see list below). The type of
data can be either binary, as in the
AS (axis status) operand, or a 32-bit unscaled integer, as in PE (encoder position)
operand. The data stored in the VARSHO is not scaled.
For example, unit #2 could execute VARSHO1=3PE to share the encoder position of axis #3 in shared output variable #1.
Each unit will re-broadcast its updated VARSHO data at a rate set with the NTRATE command.
RECOMMENDATION: Set all devices to broadcast at the same NTRATE rate of 50 milliseconds.
The Implementation Process, beginning on page 8 , identifies how to use the VARSHO command in
context with the process of setting up the peer-to-peer Ethernet data sharing.
Options for shared data in the VARSHO variable:
A ......... Acceleration NMCY ...Master cycle number SS..........System status
AD ....... Deceleration OUT......Output status SWAP .....Task swap assignment
ANI ..... Analog input voltage PANI ...Analog input position TASK .....Task number
ANO ..... Analog output voltage PC........Commanded position TIM .......Timer value
AS ....... Axis status PCC......Captured command pos. TRIG .....Trigger interrupt status
ASX ..... Extended axis status PCE......Captured encoder pos. US..........User-defined status
D ......... Distance PCME ...Captured master enc. pos. V............Velocity
DAC ..... DAC output value PE........Encoder position VARI .....Integer variable
DKEY ... RP240 keypad value PER......Position error VARB .....Binary variable
ER ....... Error status PMAS ...Position of Master VEL .......Commanded velocity
FB ....... Feedback device pos. PME......Master encoder pos. VELA .....Actual velocity
FS ....... Following status PSHF ...Net position shift VMAS .....Velocity of the master
IN ....... Input status PSLV ...Follower pos. command VARSHI .Shared input variable
INO ..... Enable input status SC........Controller status
LIM ..... Limit input status SCAN ...PLC scan time
MOV ..... Axis moving status SEG......Free segment buffers
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