Elmo HARmonica, HARSFEN0602 software manual 166, On the fly Ecam programming using can

HARSFEN0602ElmoHARmonicaSoftwareManual

Camera station

Camera

Next cake

PRELIMINARYDRAFT

166

Drawing x-y manipulator

station

Cake

Assume that the amplifiers at the x-y manipulator station runs the ECAM table entries ET[1]...ET[100]. In the meantime, the system controller programs the next shape to run into ET[101] ...ET[200]. The preferred way to do that is by using the fast CAN ECAM points protocol. When the x-y manipulator will work on the ECAM table entries ET[101]...ET[200], the system controller will program again ET[1]...ET[100] and so on. The AUTO_RLS program of the previous example is now slightly modified to

function AUTO_RLS /*

The RLS has operated an already programmed auxiliary homing process to synchronize the follower input

*/

if( ET[201]==1)EM[5]=1;EM[2]=100;else,EM[5]=101;EM[2]=200;end;EM[1]=1;...

OB[1]=1;FR[3]=1;

	/* The host uses ET[201] to signal which part of the
	table to use next. Select the ECAM table portion to
	use by ET[201], and the set EM[1]=1 to activate the
	new used portion, activate follower gain and the
	chocolate nozzle*/
until (PY >= 2000)	**Wait until end of the head contour
...	** Continue as in the previous example.
return

12.2.3 On the fly ECAM programming using CAN

ECAM table points can be programmed via fast, auto increment PDO service. Two positions of the ET table can be programmed in the eight bytes of a single PDO.

The PDO used is 0x300+ID where ID is the node ID of the Amplifier. Note that before using PDO 0x300+ID for PT, its PDO mapping must be first set correctly.

The mapping of this PDO for the PT mode is listed in the table below.

Object Dictionary Index	0x2003
Type	RECORD, 2 elements
Access	Write only
Structure:	Signed32 Position1
	Signed32 Position2
PDO mapping	Yes
Value limits	No
Default value	Not Applicable

Note that the PDO does not specify the QP vector elements to be programmed.