Infranor XtrapulsGem User Manual

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X
trapulsPac – User Guide
Chapter 3 - Referenc
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Master-Slave supported Functions
Depending on the device model, the supported master-slave functions are:
- Master-Slave gearbox
- Master-Slave cam
Master-Slave Objects Definition
Index Object Name Type
A
ttr.
0x3910 VAR Master Inputs Source Unsigned32 rw
0x3911 VAR Master Length Integer32 rw
0x3912 VAR Master Offset Signal Integer32 rw
0x3913 VAR Master Offset Source Unsigned32 rw
0x3915 VAR Trigger Inputs Unsigned16 rw
0x3916 VAR Internal Master signal Integer32 rw
0x391A VAR Internal Master speed signal Integer32 rw
0x391B VAR Master phase shift acceleration Unsigned32 rw
0x391C VAR Master phase shift differential speed Integer32 rw
0x391D VAR Master phase shift distance Integer32 rw
0x3940 VAR MS_Control Unsigned16 rw
0x3941 VAR MS_Status Unsigned16 rw
0x392A VAR Slave phase shift acceleration Unsigned32 rw
0x392C VAR Slave phase shift differential speed Integer32 rw
0x392D VAR Slave phase shift distance Integer32 rw
0x3942 VAR Slave Jog Speed Integer32 rw
0x3943 VAR Slave Offset Signal Integer32 rw
0x3944 VAR Slave Offset Source Unsigned32 rw
Master Input Source
Index 0x3910
Name Master Input Source
Description Index/sub-index of input data
Data Type Unsigned32
Class sq gb cm
Access rw
PDO Mapping No
Value See below
Default Value 0
This object allows connecting any 32-bits dataflow as master input signal.
The master signal must be a 32-bit signal.
A modulo function will be applied to this signal. The result is given in 0x3916,0 which will be used for master slave
function.
The structure of the entries is the following:
MSB LSB
Index (16-bit) Sub-index (8-bit) 0
Example:
0x3910,0 = 0x31290000
connects the encoder Input as master input signal.
0x3910,0 = 0x39060000
connects the virtual master as master input signal.
0x3910,0 = 0x30C10000
connects the interpolated signal from CAN bus as master input signal.

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English