User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-53
9. In the case of 2 entries in the data record, the user must write the second entry, before the whole record is
written into the buffer. It is not sufficient to write only the first entry, even if the second entry is unchanged
10. In the case of a Ring Buffer, disabling the IP Enabled bit in the control word is recommended while the
buffer is being reorganised, or its buffer is being updated. If the drive is enabled, the set points will be
moved to as the buffer reads them, but this will include both new and old set-points, until the buffer is
completely written.
11. The contents of the input buffer are not saved to non-volatile memory.
12. Modifying the record size in the data configuration record can change the value of actual buffer size, (e.g. if
record size is increased to 2, and there is not now enough space for the actual buffer size records, then set
actual buffer size to max buffer size.). So changing record size before setting actual buffer size is
recommend.
13. The Buffer position is zero indexed, (i.e. 0...actual buffer size –1).
14. The record size and buffer clear parameters in the data configuration record should be write-only
parameters, but instead have been implemented as read-write parameters.
15. The internal input buffer is an array of 256 signed32 integers, which can be read from the interpolation
buffer parameter (0x2855).
16. The count of the received Syncs, which are used for FIFO synchronisation, is reset when the buffer
organisation is changed, or when its contents are cleared. A manufacturer specific U32 parameter called
interpolation sync count (0x2856 / 2) displays the sync count.