User guide

VTB USER GUIDE

Note

Keep in mind these rules:

– AXIS MUST BE STOPPED

– CHANGING INSTANTLY THE POSITION IT OCCURS A PARTICULAR SEQUENCE TO AVOID THE PHISICAL AXIS

MOVES ROUGHLY

For example WHEN USING THE CANOPEN AXIS IT NEEDS:

– REMOVING THE CANOPEN FROM THE INTERPOLATION MODE

– PRESETTING THE CANOPEN AXIS BY METHOD .HOME

– PRESETTIN THE INTERPOLATOR WITH FUNCTION PRESET(pos())

– SETTING AGAIN THE CANOPEN AXIS IN INTERPOLATION MODE

Example with the axis X as CanOpen (object name AxisCan)

Used variables:

PresetValue(3) as long

AxisCan.start=0 ' remove the start condition

AxisCan.modo=0 ' set the position mode (remove from interpolation mode)

AxisCan.home=1000 ' preset of axis at 1000

PresetValue (0)=1000 ' set the preset value in the position array for X

PresetValue (1)=OBJ.pc(1) ' value to not modify the Y position

PresetValue (2)=OBJ.pc(2) ' value to not modify the Z position

OBJ.PRESET(PresetValue ()) ' preset of the interpolator

AxisCan.modo=2 ' set the Interpolation Mode

AxisCan.start=1 ' start

In similar way the same problem can occur using the STEP/DIR axis. Refer to the chapter of STEP/DIR channels for a

correct preset of them.

11.5 CANOPEN FUNCTIONS

This group of functions allow the management of CANOPEN line at application level. A lot of library OBJECTS use these

functions to make it more simple but in some cases it is necessary using the primitive functions directly.

PXCO_SDODL

This function allows to send data to a node of the canopen net using the protocol SDO. It is supported only the SDO

EXPEDITED mode allowing to send up to 4byte of data length.

Hardware All

Syntax

PXCO_SDODL(char node, unsigned index,unsigned char subidx,long len,char *data) as char

Parameters

Node Node ID of the SLAVE to whch send data

Index, subindex Address in the Object-Dictionary of the data to be written

Len Number of bytes to send

*data Pointer to the data to send

Return value

char 0 No error

<>0 Communication error

=2 The node responded with a SDO ABORT CODE, calling the function read_sdoac in the

system variables _SYSTEM_SDOAC0 e _SYSTEM_SDOAC0 will be available the relative error code.

WARNING: Cause the different allocation of bytes inside variables be careful to set the length corresponding to the