Parker Hannifin GEM6K manual page

Example: This example uses peer-to-peer communication with three 6K8 products.

;****	This code is executed on Peer unit #1:		**************************
NTID1		; This unit is the "primary unit" (unit #1)
NTRATE100		; Set the sharing	rate to 100ms and enable this unit
VARSHO1=1PE		; Store axis #1 encoder position in shared output variable #1
;*************************************************************************
;****	This code is executed on unit #3: **************************
NTID3		; Set unit ID to 3	rate to 100ms and enable this unit
NTRATE100		; Set the sharing
VARSHO2=4PCEA		; Store the captured encoder position of axis #4 in shared
VARSHO1=3AS		; output variable	#2
		; Store axis #3's	axis status (binary data) in shared

;output variable #1

;*************************************************************************

;**** This code is executed on unit #2: **************************

NTID2	; Set unit ID to 2
NTRATE100	; Set the sharing rate to 100ms and enable this unit
VAR1=1VARSHI1	; Load the value of unit #1's first shared data (1PE) into VAR1
WRITE"AXIS 1 AT POSITION" ; Report axis 1's current position (the value of VAR1)
WRVAR1	; Calculate offset position: Subtract synch unit #3's
VAR2=8PCEA-3VARSHI2
	; VARSHO2 (4PCEA) from the captured encoder position
IF(VAR2>10000)	; of axis #8 (8PCEA).
	; If position offset by more than 10000 encoder counts
WRITE"AXIS 20 OUT OF POSITION"
NIF	; Get unit 3's VARSHO1 information (3AS)
VARB1=3VARSHI1
IF(VARB1=B1)	; If axis 3 on unit #3 (axis #19) is in motion
WRITE"AXIS 19 IN MOTION"
NIF

;*************************************************************************

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