Galil Motion Control CDS-3310, Руководство пользователя

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CDS-3310 Chapter 11 Distributed Control
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The full procedure for this method is as follows:
Step 1. Assign IP address to master controller through SmartTerm (see Chapter 2)
Step 2. Determine serial numbers of the slave controllers with the Find Ethernet Controllers
feature in SmartTerm.
Step 3. Issue the HA command indicating which slaves correspond to which axes in the
system, where the arguments to HA are the serial numbers found in step 2.
Step 4. Issue the command HCn,m,o where n is the total number of axes, m is the slave data
update rate in milliseconds, and o is a 1 for UDP communication or 2 for TCP/IP
communication. When using UDP communication, the HC command will assign
one handle for both commands and slave data records. When using TCP/IP
communication, the HC command will assign one handle for commands and one
handle for slave data records. If o is a 3, then TCP/IP is used for commands, and
UDP is used for slave data records. A total of eight handles are available.
Step 5. Poll the operand _HC for success of connection. A response of 1 indicates the
command is currently executing, a 2 is for a successful configuration, and a 0 is for a
failed configuration or no HC issued.
NOTE: The HC command may take up to 20 seconds to complete due to the time involved in waiting
for the BOOTP packets.
Configuration Example
The example below shows a typical setup file for a three axis (three CDS-3310s) distributed control
system. This example is for a UDP system, with one handle used per slave. The IP addresses of the
slaves are unassigned but the IP address of the master needs to have been assigned. The HC command
will automatically assign IP addresses to the slaves.
Instruction Interpretation
#AUTO ;’This program runs on the master controller when it powers up
HA 5522,5533 ;’The controller with serial number 5522 will be Y and the
’controller with serial number 5533 will be Z.
HC 3,20,1 ;’3 axis system, 20 msec update rate, UDP connection
#LOOP; JP#LOOP,_HC=1 ;’Wait while automatic configuration operates. This could take
’up to 10+ seconds.
IF (_HC=0) ;’Test for HC success. 0 = failed while 2 = success.
MG”CONFIGURATION FAILED”
ELSE
MG”CONFIG SUCCESS”
ENDIF
EN
Manual Slave IP Configuration
It may be desired to manually assign IP addresses to the slaves, while still using the HC command to
connect to these slaves. This is possible, but you will need to take into account the addressing scheme
the HC command uses. When the HC command is initiated, the master will ARP addresses where it
expects slave controllers to reside. If no controllers respond to the ARPs, the master will then listen
for the BOOTP packets from un-assigned slave controllers.