CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual A: Alternative Control Sources
Example: Single Cam Table
The following example shows a single Cam Table (identified at run time as Cam Table 0) stored in
the trace buffer RAM area. The first pair of words contains the Cam Table’s metadata. Word 1
contains the address (offset) to the beginning of Cam Table 0. The second word contains the
length of the table.
The remaining words begin at address 2 and contain Cam Table data in the form of master/slave
increment value pairs.
Address Data Data Description
0 2 Address of the start of Cam Table 0.
1 30 Length of Cam Table 0.
2 100 A master/slave increment value pair. For each 100 master increments, the slave
axis is incremented 50 encoder counts.
3 50
4--31 xxxx Additional master/slave increment value pairs.
Example: Multiple Cam Tables
The following example shows three Cam Tables stored in the trace buffer RAM area. The first pair
of words contains the metadata for Cam Table 0. The second and third word pairs contain the
metadata for Cam Tables 1 and 2, respectively.
The remaining words begin at address 6 and contain Cam Table data, in the form of master/slave
increment value pairs, for the three Cam Tables.
Address Data Data Description
0 2 Address of the start of the Cam Table 0.
1 30 Length of Cam Table 0.
2 36 Address of the start of Cam Table 1.
3 24 Length of Cam Table 1.
4 60 Address of the start of Cam Table 2.
5 64 Length of Cam Table 2.
6—35 xxxx Cam Table 0 data in the form of master/slave increment value pairs.
36—59 xxxx Cam Table 1 data in the form of master/slave increment value pairs.
60—123 xxxx Cam Table 2 data in the form of master/slave increment value pairs.
Copley Controls 233