EtherCAT:EC INSTALL STX CDHD
Description
This subroutine sets up the CDHD and EtherCAT master to work together.
 | IMPORTANT |
| To be able to configure the CDHD drive you must globally load the library EC_CDHD.LIB |
CDHD can be configured to work in different OpModes that require different PDO mapping of PCMD and VCMD.
Optional PDO mappings are as follows:
Synchronous Position Mode - PCMD is mapped to 0x607A and VCMD is mapped to 0x6081
Position Profile Mode - PCMD is mapped to 0x60C1
Synchronous Velocity Mode - VCMD is mapped to 0x60FF
OpMode is set by passing the argument <motion_opmode> with one of 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