Software for the synchronization of axes - Kollmorgen

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SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.9.3. Instruction FILL(Only available in the boot program)Instruction code : 30 (hexa : 1 E)Data bytes : 1. Filling word to be stored (msb)2. Filling word to be stored (lsb)Answer byte :Status STATATests : If the writing of the preceding word into EEPROM is not over, bit 1 of STATCnot equal to 0, this instruction is not plausible. (Bit 6 of STATC will be immediately setand an "U" will be displayed.)This instruction is used in order to fill all unused EEPROM locations with a given value(recommended value is O). This is helpful for computing the checksum value.As this filling procedure needs some time (up to 10 seconds), bit 1 of status STATC isset to 1 upon receipt. It returns back to 0 as soon as the procedure is over.10.9.4. Instruction CHKSUM(Only available in the boot program)Instruction code : 28 (hexa : 1 C)Data bytes : 1. Result value (msb)2. Result value (lsb)Answer byte :Status STATATests :If the writing of the preceding word into EEPROM is not over,bit 0 of STATC not equal to 0, this instruction is not plausible.(Bit 6 of STATC will be immediately set and an "U" will bedisplayed.)This instruction is used in order to check the received software upon its checksum.The intended result value has to be computed and transmitted to the ST1 whichcompares it with its own checksum. As this checking procedure needs some time(about 200 ms), bit 0 of status STATC is set to 1. As soon as this procedure is over,this bit is set back to 0. Should ST1's checksum procedure lead to an error statement,then the ST1 displays a "H".110
SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.9.5. Instruction REBOOT(Only available in the boot program)Instruction code : 27 (hexa : 1 B)Data bytes :Answer byte :Tests :NoneStatus STATAIf no valid downloaded software is present in the ST1, or ifthe checksum was not correct, bit 6 of STATC is set to 1,thus indicating an unplausible instruction.Upon receipt of a REBOOT instruction, the ST1 checks if a valid downloaded softwareis available.If yes :If no :A reset is initiated, which needs about 50 ms; thedownloaded software is then active. Later on, every time theST1 will be powered-up or resetted, the downloadedsoftware will also be also active.The boot program remains active. Bit 6 of status STATCindicates the error.111
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Socapel ST1A Digital Motion Control
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SOCAPEL SA SOFTWARE FOR SYNCHRONIZA
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49Figure 8.1 : Reference computer+
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Software for the synchronization of axes - Kollmorgen

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