Yaskawa LEGEND-MC - Manual (Page 52)

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LEGEND-MC User’s Manual
Configuring Operation for Distributed Control (Obsolete Method < 1.0c firmware)
Each LEGEND-MC must be assigned an IP address. This can be done with the BOOT-P procedure or the
IA command can be used to assign the IP address through the serial port. Once the IP address has been
assigned, a BN command should be issued to save this value in the controller’s non-volatile memory.
Upon power-up or reset, the master LEGEND-MC will establish each slave connection. The following
steps must be taken while connected to the master LEGEND-MC:
1. Using the IH command, open two handles for each slave. Each slave controller must have 2
open handles, one for commands from the master, the other for data returned from the slave. The
second internet handle for each slave controller must contain a specific port value. The value must
be an even number greater than 502. The command for opening the communication handle is:
IHh=ip0,ip1,ip2,ip3<p>2 h is the handle. ip is the slave IP address. <p specifies port number. >2
specifies TCP/IP.
2. Set the total number of axes in the system with the NA command. For example, assume there are
two LEGEND-MC slaves, therefore there will be three axes and the command would be NA3.
3. Connect each slave handle to the master. This is accomplished with the CH command. The
format of this command is:
CHa=h1,h2 where a is the first axis designator of the slave controller, h1 is the handle for
commands and h2 is the handle for slave status.
4. For the master controller to make decisions based on the status of the slave controllers, it is
necessary for the slaves to generate data records giving their current status. The record is sent at a
rate set by the QW command. The QW command must be executed by the master before the slave
can issue a record under any method. The format of the command is:
QWh=n where h is the handle. n is a number between 4 and 16000.
n sets the number of samples (msec with default TM1000).
n equal to 0 disables the mode.
The data contained in the record is as follows:
• (RP) reference position
• (TP) encoder position
• (TE) position error
• (TV) velocity
• (TT) torque
• (TS) limit and home switches
• (TS) axis status (in motion, motor of, at speed, stopcode)
• (TI) uncommitted inputs
• (OP) uncommitted outputs
Operation of Distributed Control
For most commands it is unnecessary to be conscious of whether an axis is local or remote. For example,
to set the KP value for the X and Z axes, the command for the master would be:
KP 10,,20
Similarly, the interrogation commands can also be issued. For example, the position error for all axes