EtherCAT:EC INSTALL STX CDHD
Description
This subroutine sets up the CDHD and EtherCAT master to work together.
CDHD can be configured to work in different OpModes that require different PDO mapping of PCMD and VCMD.
Optional PDO mappings are as follows:
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 <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