Difference between revisions of "PIPEMODE"
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An external profiler path can be designed and fed to the softMC point-by-point. The controller functions only as a pipe and is not responsible for the correctness of the applied profiler. No system limits are checked except for position error and feedback velocity limitation. While running under this mode, no other movements are allowed. | An external profiler path can be designed and fed to the softMC point-by-point. The controller functions only as a pipe and is not responsible for the correctness of the applied profiler. No system limits are checked except for position error and feedback velocity limitation. While running under this mode, no other movements are allowed. | ||
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Command points are written through the standard Fast-Data DPRAM interface and transmitted into the controller. The DPRAM is scanned every SERCOS cycle and the command is executed. | Command points are written through the standard Fast-Data DPRAM interface and transmitted into the controller. The DPRAM is scanned every SERCOS cycle and the command is executed. | ||
There can be up to eight (8) axes in the system operating in pipe-mode. | There can be up to eight (8) axes in the system operating in pipe-mode. | ||
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| + | The HostDouble data interface can be configured in one of four communication protocols using '''SYS.PIPEMODE''': <br> | ||
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* 1 – sending position command only | * 1 – sending position command only | ||
* 2 – sending both position and velocity commands | * 2 – sending both position and velocity commands | ||
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When the system's pipe mode uses only position commands, the controller computes the current velocity. | When the system's pipe mode uses only position commands, the controller computes the current velocity. | ||
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Depending on the pipe mode configuration, the controller limits the number of axes that can be operated in this mode. When system uses only position command, eight (8) axes can operate. When using both position and velocity values, only four (4) axes can operate. | Depending on the pipe mode configuration, the controller limits the number of axes that can be operated in this mode. When system uses only position command, eight (8) axes can operate. When using both position and velocity values, only four (4) axes can operate. | ||
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=== Data Structure === | === Data Structure === | ||
Revision as of 09:55, 11 June 2017
PIPEMODE
The softMC controller can be used as a pure Motion-Bus interface card between your application and drives (PIPEMODE feature). The host computer controls all of what normally occurs in the motion module of the softMC . It must send a real-time stream of data through the softMC to the drives. In this case, the softMC functions as a data pipe. The feature is enhanced by the option of flexibly switching between pipe mode and regular mode. In typical applications, the softMC starts in regular mode where homing, jogging and initial position adjustments are made. After that, the softMC can be switched to pipe mode and the host computer takes control. There can be both softMC -controlled and pipe-controlled axes at same time in the system. Following error and velocity over-speed errors are not checked with piped axes, but by the host.
An external profiler path can be designed and fed to the softMC point-by-point. The controller functions only as a pipe and is not responsible for the correctness of the applied profiler. No system limits are checked except for position error and feedback velocity limitation. While running under this mode, no other movements are allowed.