Delta Tau ACC-72EX, Hardware Reference Manual

Page: 102 / 146

ACC-72EX User Manual
Software setup 102
L0 ++
}
L0 =0
while ( L0 <21)
{
CMD "SRMB_Data32(%d)->Acc72Ex[0].uData32[%d]" , L0 , L0 +107
sendallcmds
L0 ++
}
// Defining pointers to Out/In PDOs
L0 =0
while ( L0 <CC0_PD0_OUT_SIZE_2BYTE)
{
CMD "CC0_PD0_OUT16(%d)->Acc72Ex[0].uData16[%d]" , L0 , L0 +CC0_PD0_OUT_OFFSET
_2BYTE;
sendallcmds
L0 ++
}
L0 =0
while ( L0 < CC0_PD0_IN_SIZE_2BYTE)
{
CMD "CC0_PD0_IN16(%d)->Acc72Ex[0].uData16[%d]" , L0 , L0 +CC0_PD0_IN_OFFSET_2
BYTE
sendallcmds
L0 ++
}
L0 =0
while ( L0 <CC0_PD1_OUT_SIZE_2BYTE)
{
CMD "CC0_PD1_OUT16(%d)->Acc72Ex[0].uData16[%d]" , L0 , L0 +CC0_PD1_OUT_OFFSET
_2BYTE
sendallcmds
L0 ++
}
L0 =0
while ( L0 < CC0_PD1_IN_SIZE_2BYTE)
{
CMD "CC0_PD1_IN16(%d)->Acc72Ex[0].uData16[%d]" , L0 , L0 +
CC0_PD1_IN_OFFSET_2BYTE
sendallcmds
L0 ++
}
SCtrl_ulSystemCommandCOS=$55AA55AA
// Reset token for MASTER Unit
HCSC_HSF_RESET=1 // Reset bit, token required for reset to
complete
CommErrorFlag=0;
endtime = Sys.Time + 2;
// Reset Time-out Timer
while (CommErrorFlag==0 && HCSC_NSF_READY==0) // Wait for reset to complete
{
if (endtime<Sys.Time) // Check for reset timeout
{
CommErrorFlag = 1;
}
}
call Timer(0.100); // 100 msec