Difference between revisions of "Wiring"
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== softMC 7 EtherCATwith CDHD== | == softMC 7 EtherCATwith CDHD== | ||
[[File:softMC-7_Networks_CDHD_EtherCAT_v4a.png|600px]]<br/><br/> | [[File:softMC-7_Networks_CDHD_EtherCAT_v4a.png|600px]]<br/><br/> | ||
| + | = 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. | ||
| + | |||
| + | == Example == | ||
| + | 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$(a1.pext) | ||
| + | |||
| + | end sub | ||
| + | </syntaxhighlight> | ||
Latest revision as of 08:22, 22 April 2018
Contents
softMC 3
softMC 3 CANopen with stepIM
softMC 3 CANopen with CDHD
softMC 7
softMC 7 CANopen with stepIM
softMC 7 CANopen with CDHD
softMC 7 EtherCATwith CDHD
Secondary Encoder
Some application requires an external encoder (secondary encoder).
To be able to use secondary encoder device - Differential A/B encoder only - user have to connect is to C3 interface in the CDHD:
Activate
To activate secondary encoder function it's necessary to set drive GEARMODE to 3 (and SAVE this setting) using ServoStudio
 | NOTE |
| The external position is monitored by the drive in all operation modes - position, velocity and torque |
When secondary encoder is active, one can read it's position through EtherCAT object 0x20B6 sub-index 0.
By mapping this object to PDO (using softMC Configurator) encoder position can be monitored using <axis>.pext command.
Example
In this example we assume that axis 1 has external encoder connected to it's CDHD drive
This simple example print each second axis position according to the secondary encoder:
program continue
while 1
call axisExternalPos
sleep 1000
end program
public sub axisExternalPos
print "a1 external position is: " + str$(a1.pext)
end sub