Parker
Hannifin
Even when it is part of an operational EPL network, the drive must still be
able to accept a connection from a TCP/IP client, in this case, the ACR9030
or ACR9040. The ACR9030 and ACR9040 are single TCP/IP clients that can
make a connection to one EPL drive at a time. This communication takes
place during the asynchronous portion of the EPL cycle (see the section
“
” on page 162) and so will not affect motion
performance. The connection is made on the port specified in the EPLD
parameter “TCP/IP Port number.”
EPLD Pseudo-Stream
Although the ACR9030 or ACR9040 TCP/IP client can make a connection to
an EPL drive, this is internal, and there must be a way for user programs and
external hosts to connect to this client. The EPLD Pseudo-Stream provides
this link. This is not a true stream like COM1 and the Ethernet and USB
streams, because there is no way to enter commands on this stream. Also,
the flags associated with normal streams are not available with the EPLD
stream. It is possible to use this stream in the
OPEN
command, which allows
the
,
INPUT
and
TALKTO
commands access to the ACR9030 or
ACR9040’s TCP/IP client connection to an EPL drive.
The name of the Pseudo-Stream is ”EPLDn,” where “n” is the EPLD object
number, with a possible range of 0-15. When this is used with the
OPEN
command, “n” is first tested to be sure it is less than the number of external
nodes given by P37376. The ACR9030 or ACR9040’s TCP/IP client then
makes a connection to the corresponding EPL drive and links all input and
output from that connection to this Pseudo-Stream. The
CLOSE
command will
close the Pseudo-Stream and the connection to the drive.
Status flags and parameters, described in the section “Network Information
Parameters and Flags” on page 171, indicate the state of the
OPEN EPLD
.
Unlike other OPEN streams, the EPLD stream must maintain a TCP
connection with the corresponding EPLD drive. The
OPEN
command will not
finish until this connection is made. If the connection fails, the
OPEN
command results in an error message. If the connection is not made, or is
broken for any reason other than a user
CLOSE
command, then bit 16653 will
indicate the unexpected disconnect, and the ACR9030 or ACR9040 will
automatically close the stream. Bit 16653 will remain set until it is cleared by
the user, or by another
OPEN EPLD
command.
Application Scenario
A typical application may have a mix of traditional as well as EPL axes. This
application scenario is designed to focus on the setup and operation of an EPL
network, and to illustrate the differences between EPL and traditional axes. In this
three-axis system, X and Y are EPL axes, and Z is traditional. The following
program might be part of a program downloaded by ACR-View.
NOTE:
This application scenario illustrates the direct use of the parameters
and control bits to be set for an EPL network. ACR-View will do this
automatically via the configuration wizard.
180 ACR9000 Series Hardware Installation Guide
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