Trio Motion Coordinator Euro 205, Technical Reference Manual

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-115
System Parameters and Commands
SLOT
Type:
Slot Modifier
Description: Modifier specifies the slot number for a slot parameter such as COMMSTYPE.
SERCOS
Type: System Function
Syntax:
SERCOS(function#,slot,{parameters})
Description: This function allows the SERCOS ring to be controlled from the Trio BASIC program-
ming system. A SERCOS ring consists of a single master and 1 or more slaves daisy-
chained together using fibre-optic cable. During initialisation the ring passes
through several ‘communication phases’ before entering the final cyclic determinis-
tic phase in which motion control is possible. In the final phase, the master trans-
mits control information and the slaves transmit status feedback information every
cycle time.
The Motion Coordinator SERCOS hardware uses the Sercon 816 SERCOS interface
chip which allows connection speeds up to 16Mhz. This chip can be programmed at
a register level using the
SERCOS
command if necessary. To program in this way it is
necessary to obtain a copy of the chip data sheet.
The
SERCOS
command provides access to 11 separate functions:
Slot:
The slot number is in the range 0 to 3 and specifies the hardware channel
Function:
0
Read SERCOS Asic:
val=SERCOS(0,slot,RAM/register,address)
1 Write SERCOS Asic:
SERCOS(1,slot,RAM/register,value)
2 Initialise command:
SERCOS(2,slot[,inten-
sity[,baudrate[,period]]])
3 Link SERCOS drive to Axis
SERCOS(3,slot,slave_addr,axis
[,slave_drive_type])