ElmoMC SimplIQ Software Manual - Manual (Page 179)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-38
11.2.4 Fast ECAM Programming Using CAN
ECAM table points can be programmed via a fast, auto-increment PDO service. Two
positions of the ET table can be programmed in the eight bytes of PDO 0x300+ID, where
ID is the node ID of the drive. Note that before using the PDO for fast ECAM table
programming, it must be properly mapped
4 , as in the following table:
Object dictionary index: 0x2003
Type: RECORD,
two elements
Access: Write only
Structure: Bytes [0…3]: Signed32 Position1
Bytes [4…7]: Signed32 Position2
PDO mapping: Yes
Value limits No
Default value: Not applicable
The PDO writes the ET vector at the positions specified by EM[6]. After the PDO, EM[6]
increments automatically so that the next PDO will write consecutive places in the ET
vector. For example, if EM[6]=10, writing CAN object 0x2003 will fill data into ET[10] and
ET[11]. After writing, EM[6] will automatically update to 12.
If ET[EM[6]+1] cannot be written (EM[6]=1024), only position 1 is used to program
ET[EM[6]]. Position 2 is ignored and EM[6] increments by 1.
Fast writes to the ECAM table are not protected against writing to the active part of
the ECAM table.
Errors in fast ECAM programming issue the following emergency objects:
Error Code
(Hex) Error Code
(Decimal)
Reason
Data Field 1
0x5b 91 EM[6] out of physical
range ([1…1024]) of ET
vector, or an attempt to
write into an executing
part of an ECAM table. Value of EM[6]
0x5c 92 PDO 0x3xx is not
mapped.
11.2.5 Initializing External Position Reference Parameters
The external reference generator is initialized at MO=1, and each time a relevant
parameter (FR[3], EM[1] or PY) is changed. Note that changing EM[2], EM[3], EM[4],
EM[5] and EM[7] has no immediate effect. Setting EM[1] activates the entire set of ECAM
parameters.
4 The other mapping options of this PDO write to the PT and PVT motion tables.