ÿþþ ÿ R O - C A N - I N T E R F A C E ...

More documents

Recommendations

Info

5.2.8. Stepper 5.2.8.1. Structure of an 8-byte CAN packet CAN-Data-Byte Content 1 COMMAND 2 PAR1 (Bit 0-7) 3 PAR1 (Bit 8-15) 4 PAR1 (Bit 16-23) 5 PAR1 (Bit 24-31) 6 PAR2 (Bit 0-7) 7 PAR2 (Bit 8-15) 8 PAR3 (Bit 0-7) 5.2.8.2. Command list Commands with DAPI_STEPPER_CMD_ Value (hex) Description SET_MOTORCHARACTERISTIC 1 (hex) Set the motor characteristic GET_MOTORCHARACTERISTIC 2 (hex) Get the motor characteristic SET_POSITION 3 (hex) Set the motor position GO_POSITION 4 (hex) Go to position GET_POSITION 5 (hex) Get the motor position SET_FREQUENCY 6 (hex) Set the nominal motor frequency SET_FREQUENCY_DIRECTLY 7 (hex) Set the motor frequency GET_FREQUENCY 8 (hex) Get the motor frequency FULLSTOP 9 (hex) Immediate stopping the motor STOP 10 (hex) Stopping the motor (with deceleration slope) GO_REFSWITCH 11 (hex) Go to a reference position DISABLE 14 (hex) Enable/Disable the motor MOTORCHARACTERISTIC_LOAD_DEFAULT 15 (hex) Set the motor characteristic to default MOTORCHARACTERISTIC_EEPROM_SAVE 16 (hex) Save the motor characteristic to EEPROM MOTORCHARACTERISTIC_EEPROM_LOAD 17 (hex) Load the motor characteristic out of EEPROM GET_CPU_TEMP 18 (hex) Get the temperature of the CPU GET_MOTOR_SUPPLY_VOLTAGE 19 (hex) Get the supply voltage of the CPU GO_POSITION_RELATIVE 20 (hex) Go to a relative position CAN-Configuration Utility |Seite 46
5.2.8.3. Values for par 1 for command SET_MOTORCHARACTERISTIC Parameter (DAPI_STEPPER_MOTORCHAR_PAR_ ...) Value Description (dec) STEPMODE 1 Stepmode (Full-, 1/2-, 1/4-, 1/8-, 1/16-step) GOFREQUENCY 2 Speed [Full-step / s] - related to full-step STARTFREQUENCY 3 Startfrequency [Full-step / s] STOPFREQUENCY 4 Stopfrequency [Full-step / s] MAXFREQUENCY 5 Maximum frequency [Full-step / s] ACCELERATIONSLOPE 6 Acceleration slope [Full-step / ms] DECELERATIONSLOPE 7 Deceleration slope [Full-step / 10ms] PHASECURRENT 8 Phase current [mA] HOLDPHASECURRENT 9 Phase current for motor hold [mA] HOLDTIME 10 Time in that the hold goes to motorstop [ms] STATUSLEDMODE 11 Mode of the Status-LED INVERT_ENDSW1 12 Invert endswitch1 INVERT_ENDSW2 13 Invert endswitch2 INVERT_REFSW1 14 Invert referenceswitch1 INVERT_REFSW2 15 Invert referenceswitch2 INVERT_DIRECTION 16 Invert all direction details ENDSWITCH_STOPMODE 17 Setting of the stop behaviour (0=Fullstop / 1=Stop) GOREFERENCEFREQUENCY_TOENDSWITCH 18 Frequency before endswitch [Full-step / s] GOREFERENCEFREQUENCY_AFTERENDSWITC H 19 Frequency after endswitch [Full-step / s] GOREFERENCEFREQUENCY_TOOFFSET 20 Frequency to optional offset [Full-step / s] CAN-Configuration Utility |Seite 47
Page 1 and 2: RO-CAN-INTERFACE Hardware-Descripti
Page 3 and 4: INDEX 5.1.1.1. Select Config-Port (
Page 5 and 6: INDEX 6.4. Test programs 85 6.4.1.
Page 7 and 8: 1. Introduction 1.1. General remark
Page 9 and 10: 2. Hardware description 2.1. Overvi
Page 11 and 12: 2.3. Plug-in connector of the modul
Page 13 and 14: Configuring the module III Configur
Page 15 and 16: 3.2. The “special mode” The ”
Page 17 and 18: Approach: 1. Choose the RO-CAN modu
Page 19 and 20: 3.4.2. Setting up the CAN module ad
Page 21 and 22: Firmware update IV Firmware update
Page 23 and 24: 1. Select the Interface of the modu
Page 25 and 26: CAN-Configuration Utility V CAN-Con
Page 27 and 28: 5.1. Configuration 5.1.1. Basic con
Page 29 and 30: 5.1.2. Select the configuration 5.1
Page 31 and 32: 5.1.3.3. Set the D/A value range (3
Page 33 and 34: 5.1.4.3. Set the response module ad
Page 35 and 36: 5.1.6. Auto Rx mode The automatic r
Page 37 and 38: 5.2. Structure of the CAN packets 5
Page 39 and 40: 5.2.3. Digital input counter (16-bi
Page 41 and 42: 5.2.5. A/D inputs 5.2.5.1. Structur
Page 43 and 44: 5.2.6. D/A outputs 5.2.6.1. Structu
Page 45: 5.2.7. Temperature inputs 5.2.7.1.
Page 49 and 50: 5.3. Control LEDs The following exa
Page 51 and 52: 6. Software 6.1. Using our products
Page 53 and 54: 6.2. DELIB driver library 6.2.1. Ov
Page 55 and 56: 6.2.2. Supported operating systems
Page 57 and 58: Click on „Install“. Software |S
Page 59 and 60: The DELIB driver library is now ins
Page 61 and 62: 6.3. Integration of the DELIB 6.3.1
Page 63 and 64: DELIB.LIB entry in the Visual-C/C++
Page 65 and 66: 6.3.3. Integration of the delib.cs
Page 67 and 68: The Configuration Manager Open the
Page 69 and 70: 6.3.4. Integration of the delib.pas
Page 71 and 72: 6.3.6. Integration of the delib.vb
Page 73 and 74: Creation of UserForm Create a new U
Page 75 and 76: - Choose the option "create VIs for
Page 77 and 78: - Press continue again - The Header
Page 79 and 80: - In the new window choose "Easy er
Page 81 and 82: - In addition for some VIs you need
Page 83 and 84: 6.3.8.2. Usage of the VIs in LabVIE
Page 85 and 86: 6.4. Test programs 6.4.1. Digital I
Page 87 and 88: 6.4.3. Stepper Demo Start “Steppe
Page 89 and 90: 6.4.5. Temperature Read Demo Start
Page 91 and 92: Return-value Read state of the inpu
Page 93 and 94: 6.5.2. Customisation for RO-ETH-Mod
Page 95 and 96: Digitale Inputs Windows delib_cli D
Page 97 and 98:
Analog Inputs Windows delib_cli AI
Page 99 and 100:
7. Appendix 7.1. Revisions Rev 1.00
show all

ÿþþ ÿ R O - C A N - I N T E R F A C E ...

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?