Baldor MintDrive, Installation Manual

Page: 128 / 155

115
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.