Single-Axis Motion
06/2005
Danaher Motion
104 Rev
E
M-SS-005-03l
The data structure mapping depends on the
PIPEMODE
state:
SYSTEM.PIPEMODE
MC variables
Byte offset
Position (1)
Position and Velocity (2)
Sys.HostDouble[1] 0…7 A1.PCMD
A1.PCMD
Sys.HostDouble[2]
8…15
A2.PCMD
A1.VCMD
Sys.HostDouble[3] 16…23 A3.PCMD
A2.PCMD
Sys.HostDouble[4] 24…31 A4.PCMD
A2.VCMD
Sys.HostDouble[5] 32…39 A5.PCMD
A3.PCMD
Sys.HostDouble[6] 40…47 A6.PCMD
A3.VCMD
Sys.HostDouble[7] 48…55 A7.PCMD
A4.PCMD
Sys.HostDouble[8] 56…63 A8.PCMD
A4.VCMD
Sys.Vin 96…99
A1…A8
operation
mode info
A1…A4 operation mode
information
4.2.6.2. D
RIVE
O
PERATION
M
ODES
The drive’s operation mode of every axis is set in a 2-bit field, where there
are two active modes: 0 - position and 1- velocity (set in a 24-bit field
SYS.VIN
variable). Mapping of the
SYS.VIN
operation mode status variable
is described below:
SYSTEM.PIPEMODE
Bits offset
Position (1)
Position and Velocity (2)
0, 1
Operation mode of drive1
Operation mode of drive1
2, 3
Operation mode of drive2
Operation mode of drive2
4, 5
Operation mode of drive3
Operation mode of drive3
6, 7
Operation mode of drive4
Operation mode of drive4
8, 9
Operation mode of drive5
NA
10, 11
Operation mode of drive6
NA
12, 13
Operation mode of drive7
NA
14, 15
Operation mode of drive8
NA
Every sample, the controller sends the operation mode to the drive. Without
any dependency at the drive’s operation mode, the controller sends the
position and velocity commands to the drive.
Program
Sys.EN = Off
Sys.PIPEMODE = 2
' Definition As Position & Velocity mode
Sys.EN = On
Sys.Vin.1 = 1
' Velocity Operation Mode
attach A1
A1.PIPEMODE =1
' Pipe mode Activation
A1.en=1
While Sys.Din.1 = 1
' External condition for Pipe Mode
sleep 1000
end while
A1.PIPEMODE = 0
' Exit from the Pipe mode
Sys.Vin.1 = 0
' Return to the Position Operation Mode
detach A1
End Program
