EtherCAT:EC INSTALL STX CDHD/zh-hans

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语言: [[::EtherCAT:EC INSTALL STX CDHD|English]]  • [[::EtherCAT:EC INSTALL STX CDHD/zh-hans|中文（简体）‎]]

描述

通过调用子程序EC_INSTALL_STX_CDHD配置CDHD驱动器功能.
本文介绍了此子例程执行的配置步骤。

IMPORTANT.svgIMPORTANT
要配置CDHD驱动器，必须在全局加载库EC_CDHD.LIB。
IMPORTANT.svgIMPORTANT
当EC_SETUP.PRG检测到STX CDHD时，该子程序将自动调用。

输入

驱动器地址 - 驱动器在物理拓扑中的位置，其中第一个驱动器分配了驱动器地址1，以此类推。
供应商ID - 有几种定制品牌的STX CDHD驱动器，因此EtherCAT设置可能会运行到多个供应商ID
运动模式 - 详细说明如下
微插值 - 驱动器的微插值模式，这个参数默认传递为2

输出

None

返回值

None

描述

public sub EC_INSTALL_STX_CDHD(byval drive_addr as long, byval vendor_id as long, byval motion_opmode as long, byval micro_interpolation as long)

格式

call EC_INSTALL_STX_CDHD(<drive address>, <vendor_id>, <motion opmode>, <micro interpolation mode>)

例子

call EC_INSTALL_STX_CDHD(2, SERVOTRONIX_VENDOR_ID_0X2E1, CDHD_OPMODE_SYNC_POSITION, 2) ' mic_int = 2

Installation Process

The first step is creating the PDO mapping. Different motion operational modes in the drive use different PDO mappings; therefore, before starting the EtherCAT setup procedure, you must decide whether the system will work in either Synchronous Position Mode or Synchronous Velocity Mode.

Once EtherCAT has started, it is not possible to switch between Sync Position and Sync Velocity. Switching modes requires stopping the EtherCAT communication and restarting with a new PDO setup. In most instances, however, Synchronous Position Mode is suitable.

The PDO mapping in different operation modes is 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

The correct PDO mapping is set by passing the argument <motion_opmode> to the subroutine EC_CDHD_SET_PDOS with one of the following constants:
CDHD_OPMODE_SYNC_VELOCITY = 7
CDHD_OPMODE_SYNC_POSITION = 8
CDHD_OPMODE_VELOCITY = 3

call EC_CDHD_SET_PDOS(drive_addr, EC_BUSID, EC_ADDRESS_BY_ALIAS, motion_opmode)

The next step is notifying the EtherCAT master that a specific address contains a motion drive. This is done by calling the subroutine EC_USE_SLAVE. The last argument, "TRUE", instructs the ECat master to sync clocks with the drive. 

call EC_USE_SLAVE(drive_addr, SERVOTRONIX_VENDOR_ID_0X2E1, STX_CDHD_PRODUCT_CODE_0X0, "ECAT_AXIS_SLAVE", TRUE)

Set the Micro-Interpolation mode: 

'  Micro Interpolation
call EC_SDO_WRITE(drive_addr, 0x60C0, 0, 16, micro_interpolation)

The next step is reading PNUM / PDEN from the drive in order to calculate the Position Factor. 

PNUM = EC_SDO_READ(drive_addr, 0x6092, 1)
Pos_Units[drive_addr] = (PNUM / EC_SDO_READ(drive_addr, 0x6092, 2)) * (EC_SDO_READ(drive_addr, 0x6091, 1) / EC_SDO_READ(drive_addr, 0x6091, 2))

If the motor is linear, read the pitch, and add it to the position factor calculation. 

if EC_SDO_READ(drive_addr, 0x2024, 0) = 2 then
	Pos_Units[drive_addr] = Pos_Units[drive_addr] / EC_SDO_READ(drive_addr, 0x207d, 0)
end if

Last thing done is creating association between the drive's digital IOs and System Digital IOs. The STX CDHD has 11 digital inputs and 6 digital outputs.
The association is done as follows:
Drive's digital inputs 1-11 ---> System digital inputs [drive address * 100] - [drive address * 100 + 10]
Drive's digital outputs 1-6 ---> System digital outputs [drive address * 100] - [drive address * 100 + 5]
For example: STX CDHD Drive fourth in topology is assigned with drive address 4.
Its digital inputs are associated with System digital inputs 400 to 410.
Its digital outputs are associated with System digital outputs 400 to 405.
The drive's digital inputs are read as follows:
?Sys.Din[400][11]
The drive's digital outputs are set as follows:
Sys.Dout[400][6] = <6 bits value>

The association is done using the subroutine EC_ASSOCIATE_PDO_TO_SYS_DIO:

' Map Drive digital IOs to system digital IOs
call EC_ASSOCIATE_PDO_TO_SYS_DIO(drive_addr, 0x60FD, 0x0, drive_addr*100, 11, 16)  '  16 - inherent offset in 60FD to digital inputs
printu "Drive  # : sys.din. # to sys.din. #" ;drive_addr, drive_addr*100 , drive_addr*100+(11-1)
call EC_ASSOCIATE_PDO_TO_SYS_DIO(drive_addr, 0x60FE, 0x1, drive_addr*100, 6, 16)  '  16 - inherent offset in 60FD to digital inputs
printu "Drive  # : sys.dout. # to sys.dout. #";drive_addr, drive_addr*100 , drive_addr*100+(6-1)

'set correct digital outputs mask specifically for CDHD
CDHD_OUTPUT_MASK = ((1 SHL CDHD_Num_Of_Digital_Outputs_6) - 1) SHL 16
call EC_SDO_WRITE(drive_addr, 0X60FE, 0X2, 32, CDHD_OUTPUT_MASK)

For more information, refer to DIGITAL-IOS


See Also

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