Delta Tau GEO BRICK LV 사용자 설명서
Geo Brick LV User Manual
MACRO Connectivity
223
The motors attached to the slave(s) have to be phased locally before allowing the Master to take over their
control. This can be done using Macro auxiliary MX commands from the master and creating a
handshaking flag to trigger local phasing followed by a kill on the slave side.
control. This can be done using Macro auxiliary MX commands from the master and creating a
handshaking flag to trigger local phasing followed by a kill on the slave side.
Slave Handshaking PLC Example: Phase then kill Motor #1
P8000=0 ; Handshaking flag
Open PLC 1 Clear
IF (P8000 = 1)
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
Open PLC 1 Clear
IF (P8000 = 1)
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=0
; Turn Auxiliary Control off
I103=$3503
; Set position pointer to local control ECT
I104=$3503
; Set velocity pointer to local control ECT
I183=$3503
; Set commutation pointer to local control ECT
I5111= 250 *8388608/I10 While(I5111>0) EndW
CMD"#1$"
I5111= 500 *8388608/I10 While(I5111>0) EndW
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=$178423 ; Turn Auxiliary Control on
I103=$351B
CMD"#1$"
I5111= 500 *8388608/I10 While(I5111>0) EndW
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=$178423 ; Turn Auxiliary Control on
I103=$351B
; Set position pointer to MACRO control ECT
I104=I103
; Set velocity pointer to MACRO control ECT
I183=I103
; Set commutation pointer to MACRO control ECT
I5111= 250 *8388608/I10 While(I5111>0) EndW
P8000 = 0
EndIf
Close
P8000 = 0
EndIf
Close
Note
Issuing MX0, P8000=1 from the Master will allow the execution of
this code on the slave.
this code on the slave.