Moog SmartMotor User Manual

Part 3: Examples
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 840 of 909
CAN Bus - Timed SDOPoll
This program makes use of one-shot SDO commands to get data while using SmartMotor
timer interrupts to poll continuously. This method is used where high-speed polling is not
required.
NOTE: For high-speed polling, a PDO is used to do this automatically. For details,
see CAN Bus - I/OBlock with PDOPoll on page 841.
'Using SmartMotor interrupts and timers to poll via SDO.
'Note PDO mapping is also available; this is just a simplified code example.
CANCTL(17,3) 'ENABLE MASTER COMMANDS
ITR (3,4,3,0,300) 'WATCHDOG TIMER INTERRUPT (for polling CAN bus device)
EITR(3) 'ENABLE INTERRUPT 3
ITRE 'ENABLE ALL INTERRUPTS
TMR(3,30) 'Start timer 3 for 30 milliseconds
PAUSE
END
'============================================================================
C300 'CAN bus device has two data packets that will be loaded into x and y.
x=SDORD(1, 24592,0,2) 'Read 2 bytes from address 1,
'object 24592 (0x6179 hex)
'object 0x6010, sub-index 0.
e=CAN(4) 'Trap error codes if any.
y=SDORD(1, 24608,0,2) 'Read 2 bytes from address 1,
'object 24608 (0x6020 hex)
'object 0x6020, sub-index 0.
ee=CAN(4) 'Trap error codes if any.
IF (e|ee)==0 'Confirm the status of both SDO operations.
'Success if they are zero.
'The variables "x" and "y" now contain values from the CAN bus device.
ELSE
'Place error handling code here.
ENDIF
TMR(3,30) 'Start timer 3 again for 30 milliseconds.
'This means the data will be polled every 30 milliseconds.
RETURNI
Part 3: Examples: CAN Bus - Timed SDOPoll

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English