Difference between revisions of "EtherCAT:EC INSTALL STX CDHD"
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==Description== | ==Description== | ||
| − | + | CDHD can be configured to work in different OpModes that require different PDO mapping of PCMD and VCMD<br/> | |
| − | + | sync position - PCMD is mapped to 0x607A and VCMD is mapped to 0x6081<br/> | |
| − | + | position - PCMD is mapped to 0x60C1<br/> | |
| − | + | sync velocity - VCMD is mapped to 0x60FF<br/> | |
| + | |||
| + | OpMode is set by passing the argument OPMODE_val with the following constants:<br/> | ||
| + | CDHD_OPMODE_SYNC_VELOCITY = 7<br/> | ||
| + | CDHD_OPMODE_SYNC_POSITION = 8<br/> | ||
| + | CDHD_OPMODE_VELOCITY = 3<br/> | ||
| + | |||
==Input== | ==Input== | ||
Drive address, Motion OpMode, Micro-Interpolation Method | Drive address, Motion OpMode, Micro-Interpolation Method | ||
Revision as of 09:16, 7 October 2014
Description
CDHD can be configured to work in different OpModes that require different PDO mapping of PCMD and VCMD
sync position - PCMD is mapped to 0x607A and VCMD is mapped to 0x6081
position - PCMD is mapped to 0x60C1
sync velocity - VCMD is mapped to 0x60FF
OpMode is set by passing the argument OPMODE_val with the following constants:
CDHD_OPMODE_SYNC_VELOCITY = 7
CDHD_OPMODE_SYNC_POSITION = 8
CDHD_OPMODE_VELOCITY = 3
Input
Drive address, Motion OpMode, Micro-Interpolation Method
Output
None
Return Value
None
Declaration
public sub EC_INSTALL_STX_CDHD(byval drive_addr as long, byval motion_opmode as long, byval micro_interpolation as long)
Syntax
call EC_INSTALL_STX_CDHD(<drive address>, <motion opmode>, <micro interpolation mode>)
Examples
call EC_INSTALL_STX_CDHD(drive_addr, CDHD_OPMODE_SYNC_POSITION, 2) ' mic_int = 2