Parker
Hannifin
AcroBASIC Language Access to CANopen I/O
All “objects” (for example steppers, encoders, axes, and masters) in an ACR
controller may be accessed via bits and parameters as well as commands. In
many cases, (for example, ADC inputs) the values may be accessed only
through bits or parameters. An external digital input or output is the same in
function and use as an on board digital input or output, and are used in the
same way in the language. This is true not just for
SET
and
CLR
, but for
IF
,
WHILE
,
INH
,
LD
, and any other command that has a flag as an argument.
This also applies to using parameters with analog I/O. To be consistent with
the current language, extend all existing on board I/O functionality to external
I/O, and facilitate backward compatibility with existing applications, external
I/O are represented with bits and parameters in exactly the same way
onboard I/O is.
Network and Node Information Parameters and Flags
After the ACR90x0 has started the CANopen network, and discovered and
characterized nodes on the network, it fills in an information parameter block
for the network and each discovered node. It also updates the Extended I/O
Control/Status flags shown below.
Extended I/O Control/Status (P4448)
Flag Number
Control Flags
Start Network
11265
Reset Network
11266
Reserved
11267
Status Flags
CANopen controller installed
11268
Network Operational
11269
Network Start Failed
11270
Node Failure
11271
SW Rx Overflow
11272
HW Rx Overflow
11273
132 ACR9000 Series Hardware Installation Guide
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Summary of Contents for ACR9000
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