CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual A: Alternative Control Sources
Procedures for Running Cam Tables from RAM
Process overview:
1. Allocate RAM for Cam Tables
Write to
Trace Buffer Reserved Size (index 0x250A, p. 230) the number of memory words to reserve for
Cam Tables.
2. Load a Cam Table into RAM
Write to Trace Buffer Address (index 0x250B, p. 230) the Cam Table’s initial offset value.
Write a series of values to Trace Buffer Data (index 0x250C, p. 230).
For standard table format, the series starts with a master increment value followed by the
corresponding slave increment, and the master/slave pairing sequence is repeated for each row of
Cam Table data.
For compressed table format, the first value is the constant master increment value. Bit 14 of this
first word is set, and bit 15 is clear. Subsequent values written to Trace Buffer Data represent the
series of slave increments.
Each time a value is written to or read from Trace Buffer Data, the amplifier increments the offset
pointer in Trace Buffer Address.
3. Configure the Camming Parameters
To configure the amplifier to run Cam Tables from RAM, set bit 7 in the Camming Configuration
object (index 0x2360, p. 229). Set other parameters as needed.
4. Run a Cam Table from RAM
Set the Desired State object (index 0x2300, p. 65) to 25 (camming mode).
The Cam Table selected in bits 0-3 of the Camming Configuration object will be run in response to
the trigger events specified in bits 12-13 of the Camming Configuration object.
Copley Controls 235