Baldor MN1274 06/2001 installation manual B.2.9 I/O nodes, B.2.8.3 Comms array subroutines

PAUSE GROUPMASTERSTATUS.3

On the group master node (node 15 for example), the GROUPCOMMS command is used to access the comms array of all nodes in that group. The following command would write the value 4 to location 30 of all the nodes that are in group 3:

GROUPCOMMS(3,30) = 4

The VIEW GROUP instruction can be used on the network manager to get a summary of the groups that have been set up, or on a slave node to see the groups in which it is a member/master.

B.2.8.3 Comms array subroutines

The #COMMS subroutine allows a program to be interrupted when its comms array has been updated by a comms array write from another node, over CAN. For example, if a node defines its local comms array element 5 as a target position, the following subroutine triggers a move each time this element is updated by a remote node:

#COMMS5

MOVEA.1 = COMMS(5) GO.1

RETURN

The #COMMS subroutine will also be triggered if the local comms array element is updated over RS232 or DPR (Dual Port RAM), if these interfaces exist on the controller. The comms locations COMMS(1) to COMMS(5) are mapped to subroutines #COMMS1 to #COMMS5.

B.2.9 I/O nodes

A variety of third-party I/O nodes are available that include devices with fixed configuration (a fixed number of analog outputs) and devices that are flexible in their configuration (have a number of different types of I/O modules connected via a bus coupler). Provided the node conforms to the CANopen Device Profile for Generic I/O Modules (DS-401), it should be fully compatible with the Baldor range of controllers. The following sections describe the Mint keywords that can be used to read and write data to these devices.

B.2.9.1 Digital I/O access

Digital inputs and outputs have two possible states; ON and OFF. Mint allows for two methods of reading from and writing to digital I/O on a CANopen node.

The first method uses the REMOTEIN and REMOTEOUT keywords and accesses all of the inputs/outputs. The value that is read from or written to the node is simply a bitmap of the inputs/outputs and can be written in any of the base formats supported in Mint (binary, decimal or hexadecimal).

For example:

?REMOTEIN.1.2 will read the state of all of the inputs on node 2. The command:

?REMOTEOUT.1.2 will read the state of all of the outputs on node 2.

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