CANopen Programmer's Manual - Maccon.de

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9: Cyclic Synchronous Modes CANopen Programmer’s Manual IP MOVE SEGMENT COMMAND INDEX 0X2010 Type Access Units Range Map PDO Memory 8 Byte array RW - - YES R Overview This object is used to send PVT segment data and buffer control commands in interpolated position mode. This object is write only. Byte 1: Header Byte The first byte of the object identifies the type of information contained in the rest of the message. Among other things, it determines whether the PVT Segment Command object operates in a PVT buffer command mode or carries a PVT profile segment. Buffer Command Mode If the most significant bit of the header byte is set to 1, then the PVT segment command object is a PVT buffer command. In this case, the command code is located in the remaining 7 bits of the header byte and should take one of the following codes: Code Description 0 Clear the buffer and abort any move in progress. 1 Pop the N most recently sent segments off the buffer. PVT profiles will continue to run as long as the buffer doesn't underflow. The number of segments to pop (N) is passed in the next byte (byte 1 of the message). If there are less then N segments on the buffer, this acts the same as a buffer clear except that the profile is not stopped except by underflow. 2 Clear buffer errors. The next byte of data gives a mask of the errors to be cleared (any set bit clears the corresponding error). Error bit locations are the same as the top byte of the status value. 3 Reset the segment ID code to zero. 4 No operation. Used with EtherCAT PVT Segment Mode If the most significant bit of the first byte of the message is a zero, then the message contains a segment of the PVT profile. The remaining bits of this first byte contain the following values: Bits Description 0-2 Segment integrity counter. This three-bit value increases for each segment sent and is used by the amplifier to identify missing profile segments. More details of the use of this value are provided below. 3-6 These bits hold a buffer format code. This code identifies how the PVT data is packed into the remaining 7 bytes of the message. See the table below for details. 7 Zero. This bit is always zero identifying the message as containing PVT data. 214 Copley Controls
CANopen Programmer’s Manual 9: Cyclic Synchronous Modes Format of Data Bytes in PVT Segment Mode Buffer segments hold the PVT information to be added to the buffer. The PVT data is stored in the remaining 7 bytes of the message. The format of this data is indicated by the buffer format code encoded in byte 0. Code Description 0 Bytes Contents 1 The time (in milliseconds) until the start of the next PVT segment. Set to zero to end the move. 2-4 A 24-bit absolute position (counts). This is the starting position for this profile segment. 5-7 A 24-bit velocity given in 0.1 counts / second units. 1 Same as for code 0, except velocity is in 10 ct/sec units. This allows greater velocity range with less precision. 2 Same as for code 0, except the position is relative to the previous segment's position. If this is the first segment of a move, the position is relative to the starting commanded position. 3 Same as for code 2, except velocity is in 10 ct/sec units. 4 Bytes 1-4 hold a 32-bit absolute position (counts). This is not a full segment itself, but is useful at the start of a move when a full 32-bit position must be specified. If the next segment is a relative position segment (code 2 or 3), its position is relative to this value. 5 Bytes Contents 1 The time (in milliseconds) until the start of the next linear IP segment. Set to zero to end the move. 2-5 A 32-bit absolute position (counts). This is the starting position for this profile segment. 6 Same as for code 5, except the position is relative to the previous segment's position. If this is the first segment of a move, the position is relative to the starting commanded position. 7-15 Reserved for future use. Segment Integrity Counter Each segment of a move is given a 16-bit numeric identifier. The first segment is given the identifier 0, and each subsequent segment is given the next higher ID. The three-bit integrity counter sent in byte zero of the segment should correspond to the lowest three bits of the ID code (i.e. zero for the first segment and increasing by 1 for each subsequent segment). If the amplifier receives non-consecutive segments, an error is flagged and no further segments are accepted until the error is cleared. This allows the amplifier to identify missing segments in the move and stop processing data at that point. Because the PVT buffer status message includes the ID of the next expected segment, it should be possible to clear this error and resend the missing data before the buffer is exhausted. TRAJECTORY BUFFER FREE COUNT INDEX 0X2011 Type Access Units Range Map PDO Memory Integer 16 RO - - YES - Description This object gives the number of locations in the IP trajectory buffer that are currently available to accept new trajectory segments. It contains the same information as bits 16-23 of the Trajectory Buffer Status object (index 0x2012), below. Copley Controls 215
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