Difference between revisions of "Wiring"

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[[File:softMC-7_Networks_CDHD_EtherCAT_v4a.png|600px]]<br/><br/>
 
[[File:softMC-7_Networks_CDHD_EtherCAT_v4a.png|600px]]<br/><br/>
 
= Secondary Encoder =
 
= Secondary Encoder =
 +
Some application requires an external encoder (secondary encoder). <br>
 +
To be able to use secondary encoder device - '''Differential A/B encoder only''' - user have to connect is to C3 interface in the CDHD: <br>
 +
 +
 +
[[image: secEn 1.png|500px]]
 +
 +
 +
== Activate ==
 +
To activate secondary encoder function it's necessary to set drive '''GEARMODE''' to 3 (and SAVE this setting) using [http://www.servotronix.co.il/en/support/downloads ServoStudio] <br>
 +
{{Note| The external position is monitored by the drive in all operation modes - position, velocity and torque}}
 +
 +
 +
When secondary encoder is active, one can read it's position through EtherCAT object 0x20B6 sub-index 0. <br>
 +
By mapping this object to PDO (using softMC Configurator), encoder position can be monitored using '''''<axis>.pext''''' command.
 +
 +
 +
== Exmale ==
 +
In this example we assume that axis 1 has external encoder connected to it's CDHD drive <br>
 +
 +
This simple example print each second axis position according to the secondary encoder: <br>
 +
 +
<syntaxhighlight lang="VB">
 +
program continue
 +
    while 1
 +
        call axisExternalPos
 +
        sleep 1000
 +
 +
end program
 +
 +
public sub axisExternalPos
 +
    print "a1 external position is: " + str$(a1.pext)
 +
 +
end sub
 +
</syntaxhighlight>

Revision as of 08:11, 22 April 2018

softMC 3

softMC 3 CANopen with stepIM

softMC-3 Networks stepIM CAN v4a.png

softMC 3 CANopen with CDHD

softMC-3 Networks CDHD CAN v4a.png

softMC 7

softMC 7 CANopen with stepIM

softMC-7 Networks stepIM CAN v4a.png

softMC 7 CANopen with CDHD

softMC-7 Networks CDHD CAN v4a.png

softMC 7 EtherCATwith CDHD

softMC-7 Networks CDHD EtherCAT v4a.png

Secondary Encoder

Some application requires an external encoder (secondary encoder).
To be able to use secondary encoder device - Differential A/B encoder only - user have to connect is to C3 interface in the CDHD:


secEn 1.png


Activate

To activate secondary encoder function it's necessary to set drive GEARMODE to 3 (and SAVE this setting) using ServoStudio

NOTE-Info.svgNOTE
The external position is monitored by the drive in all operation modes - position, velocity and torque


When secondary encoder is active, one can read it's position through EtherCAT object 0x20B6 sub-index 0.
By mapping this object to PDO (using softMC Configurator), encoder position can be monitored using <axis>.pext command.


Exmale

In this example we assume that axis 1 has external encoder connected to it's CDHD drive

This simple example print each second axis position according to the secondary encoder:

program continue
    while 1
        call axisExternalPos
        sleep 1000

end program

public sub axisExternalPos
    print "a1 external position is: " + str$(a1.pext)

end sub