Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 847 of 909
NMT(0,128) GOSUB10 ' Network broadcast to go pre-operational state.
' Setup the sync producer/consumers and set timebase. Provides time sync so
' motor clocks keep in step, and data is transmitted/accepted on sync also.
SDOWR(mmm,x1006,0,4,10000) GOSUB10 ' define Cycle period object 0x1006:0,
' size 4, 10ms
SDOWR(eee,x1006,0,4,10000) GOSUB10 ' define Cycle period object 0x1006:0,
' size 4, 10ms
IF mmm!=fff
' If follow motor is not the master.
SDOWR(fff,x1006,0,4,10000) GOSUB10 ' define Cycle period object
' 0x1006:0, size 4, 10ms
ENDIF
SDOWR(mmm,x1005,0,4,128) GOSUB10 ' define Cycle ID x0000 0080 (required
' to avoid error in next line.)
SDOWR(mmm,x1005,0,4,1073741952) GOSUB10 ' define Cycle ID, producer
' x4000 0080
SDOWR(eee,x1005,0,4,128) GOSUB10 ' define Cycle ID, consumer x0000 0080
IF mmm!=fff
' If follow motor is not the master.
SDOWR(fff,x1005,0,4,128) GOSUB10 ' define Cycle ID, consumer x0000 0080
ENDIF
' Time sync
' Setup PDO mapping so that master transmits 32-bit actual position
' (0x6064), and follow motor receives as 32-bit encoder data (0x2208:3)
IF t==2
' We need to map a motor completely to get the position data.
SDOWR(eee,x1800,1,4,-1073741439) GOSUB10 ' set Transmit Com Parameter
' START xC000 0181
SDOWR(eee,x1800,2,1,1) GOSUB10 ' set Transmit Com Parameter
' on every Sync x000 0001
SDOWR(eee,x1A00,0,1,0) GOSUB10 ' set Transmit map number of
' entries x00
SDOWR(eee,x1A00,1,4,1617166368) GOSUB10 ' set Transmit map x6064 00 20
SDOWR(eee,x1A00,0,1,1) GOSUB10 ' set Transmit map number of
' entries x01
SDOWR(eee,x1800,1,4,1073742209) GOSUB10 ' set Transmit Com Parameter
' COB-ID x4000 0181
ELSEIF t==1
' Using an encoder. An encoder should have these mappings already.
' Comment these out if the encoder has read-only PDO parameters/mappings.
' Note PDO2 is used; it is default sync type in the encoder 406 profile.
SDOWR(eee,x1801,1,4,-1073741439) GOSUB10 ' set Transmit Com Parameter
' START xC000 0181
SDOWR(eee,x1801,2,1,1) GOSUB10 ' set Transmit Com Parameter
' on every Synch x000 0001
SDOWR(eee,x1A01,0,1,0) GOSUB10 ' set Transmit map number of
' entries x00
SDOWR(eee,x1A01,1,4,1617166368) GOSUB10 ' set Transmit map x6064 00 20
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
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