Galil DMC-4040, Руководство пользователя

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vp=@AN[1]*1000 Compute desired position
ve=vp-_TPA Find position error
vel=ve*20 Compute velocity
JG vel Change velocity
JP #LOOP Change velocity
EN End
Extended I/O of the DMC-40x0 Controller
The DMC-40x0 controller offers 32 extended I/O points which can be configured as inputs or outputs in 8 bit
increments through software. The I/O points are accessed through 1 44 pin high density connector.
Configuring the I/O of the DMC-40x0
The 32 extended I/O points of the DMC-40x0 series controller can be configured in blocks of 8. The extended I/O
is denoted as blocks 2-5 or bits 17-48.
The command, CO, is used to configure the extended I/O as inputs or outputs. The CO command has one field:
CO n
where n is a decimal value which represents a binary number. Each bit of the binary number represents one block of
extended I/O. When set to 1, the corresponding block is configured as an output.
The least significant bit represents block 2 and the most significant bit represents block 5. The decimal value can be
calculated by the following formula. n = n2 + 2*n3 + 4*n4 + 5*n5 where nx represents the block. If the nx value is
a one, then the block of 8 I/O points is to be configured as an output. If the nx value is a zero, then the block of 8 I/
O points will be configured as an input. For example, if block 4 and 5 is to be configured as an output, CO 12 is
issued.
8-Bit I/O Block Block Binary Representation Decimal Value for
Block
17-24
2
2
0
1
25-32 3 2
1
2
33-40 4 2
2
4
41-48 5 2
3
8
The simplest method for determining n:
Step 1. Determine which 8-bit I/O blocks to be configured as outputs.
Step 2. From the table, determine the decimal value for each I/O block to be set as an output.
Step 3. Add up all of the values determined in step 2. This is the value to be used for n.
For example, if blocks 2 and 3 are to be outputs, then n is 3 and the command, CO3, should be issued.
NOTE : This calculation is identical to the formula: n = n2 + 2*n3 + 4*n4 + 5*n5 where nx represents the block.
Saving the State of the Outputs in Non-Volatile Memory
The configuration of the extended I/O and the state of the outputs can be stored in the non-volatile flash memory
with the BN command. If no value has been set, the default of CO 0 is used (all blocks are inputs).
DMC-40x0 User Manual Chapter 7 Application Programming
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