User's Manual

HARSFEN0602
Cake
Drawing x-y manipulator
station
Next cake
Camera station
C
A
N
Camera
Assume that the amplifiers at the x-y manipulator station runs the ECAM table entries
ET[1]...ET[100]. In the meantime, the system controller programs the next shape to run into
ET[101] ...ET[200]. The preferred way to do that is by using the fast CAN ECAM points
protocol. When the x-y manipulator will work on the ECAM table entries
ET[101]...ET[200], the system controller will program again ET[1]...ET[100] and so on.
The AUTO_RLS program of the previous example is now slightly modified to
function AUTO_RLS
/*
The RLS has operated an already programmed auxiliary homing process to synchronize
the follower input
*/
if( ET[201]==1)EM[5]=1;EM[2]=100;else,EM[5]=101;EM[2]=200;end;EM[1]=1;...
OB[1]=1;FR[3]=1;
/* The host uses ET[201] to signal which part of the
table to use next. Select the ECAM table portion to
use by ET[201], and the set EM[1]=1 to activate the
new used portion, activate follower gain and the
chocolate nozzle*/
until (PY >= 2000) **Wait until end of the head contour
...
return
** Continue as in the previous example.
12.2.3 On the fly ECAM programming using CAN
ECAM table points can be programmed via fast, auto increment PDO service.
Two positions of the ET table can be programmed in the eight bytes of a single PDO.
The PDO used is 0x300+ID where ID is the node ID of the Amplifier. Note that before using PDO
0x300+ID for PT, its PDO mapping must be first set correctly.
The mapping of this PDO for the PT mode is listed in the table below.
Object Dictionary Index 0x2003
Type RECORD, 2 elements
Access Write only
Structure: Signed32 Position1
Signed32 Position2
PDO mapping Yes
Value limits No
Default value Not Applicable
Note that the PDO does not specify the QP vector elements to be programmed.