Difference between revisions of "Undocumented User Functions"
(added MOT_CVEL) |
(added EC_SET_TX_ERR) |
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| velocity command in drive units(counts) sent to driver over filedbus | | velocity command in drive units(counts) sent to driver over filedbus | ||
| example: user MOT_CVEL(1,0,0)' returns velocity command in drive units(counts) sent to driver over filedbus | | example: user MOT_CVEL(1,0,0)' returns velocity command in drive units(counts) sent to driver over filedbus | ||
| + | |- | ||
| + | | EC_SET_TX_ERR | ||
| + | | x - number of EtherCAT transmission errors to simulate (will not send x frames) | ||
| + | | none | ||
| + | | none | ||
| + | | none | ||
| + | | example: user EC_SET_TX_ERR(1,0,0)' simulated 1 missing frame | ||
|- | |- | ||
| none | | none | ||
Revision as of 07:59, 18 February 2016
This sections is intended for expert users or developers. It contains a list of internal functions for debugging, troubleshooting and development purposes.
We do not guaranty any kind of backward compatibility. Usage can cause severe deviation in operation.
Use it on your own risk!!
Each function gets up to 3 optional integer parameters and an optional return value.
Usage:
var = user FUNCTION_NAME(1,2,3)
?user FUNCTION_NAME(1,2,3)
Unused parameters are zero
| Name | Parameter 1 | Parameter 2 | Parameter 3 | Return Value | Description |
|---|---|---|---|---|---|
| USR_GET_RUN_TIME_ERROR | none | none | none | error code | Value of last run-error |
| USR_GET_ASSERTED_ERROR | none | none | none | error code | Value of last run-error delivered to interpreter from other module. |
| USR_GET_RECENT_ERROR | none | none | none | error code | Value of recent error |
| USER_CAN_GET_VFB | axis | none | none | VFB | axis 1,2,3... return value mapped to VFB |
| USER_CAN_SDO_WRITE | drive address and value size | IndexSubindex | Value | Error code | example: user USER_CAN_SDO_WRITE(0x0101,0x606000,7) will write 7 into object dictionary 0x6060 with subIndex zero |
| USER_CAN_SDO_READ | drive address | IndexSubindex | none | Error code | example: USER_CAN_SDO_READ(1,0x606100,0) will read from object dictionary 0x6061 with subIndex zero |
| USER_SKIP_SYNC | number | none | none | none | Skip number of syncs for debugging purposes |
| USER_DELAY_SYNC | delay in μs | lCpuClockMzh | none | none | Create artificial delay in single SYNC messages |
| USER_SET_ES_LOCK_DETECT_TIMEOUT | delay in ms | none | none | none | ???? |
| USER_GET_ES_LOCK_DETECT_TIMEOUT | delay in ms | none | none | none | ???? |
| ENCRYPTFILE | file name | none | none | none | Encrypt file, this function requires definition in proto.pro |
| EC_SET_TX_ERR | number | none | none | none | Generate a number of consecutive tx errors. For debugging purposes. |
| MOT_CVEL | axis handle 1..32 | none | none | velocity command in drive units(counts) sent to driver over filedbus | example: user MOT_CVEL(1,0,0)' returns velocity command in drive units(counts) sent to driver over filedbus |
| EC_SET_TX_ERR | x - number of EtherCAT transmission errors to simulate (will not send x frames) | none | none | none | example: user EC_SET_TX_ERR(1,0,0)' simulated 1 missing frame |
| none | none | none | none | none | none |