8 Programming with NanoJ
Tip
Nanotec recommends accessing a given OD value either by mapping or using a system call with
od_write(). If both are used simultaneously, the system call has no effect.
8.1.5 NanoJ program – OD entries
The NanoJ program is controlled and configured in object range 2300
h
to 2330
h
(see 2300h NanoJ Control).
OD-Index Name and description
2300
h
2300h NanoJ Control
2301
h
2301h NanoJ Status
2302
h
2302h NanoJ Error Code
2310
h
2310h NanoJ Input Data Selection
2320
h
2320h NanoJ Output Data Selection
2330
h
2330h NanoJ In/output Data Selection
Example:
To select and start the TEST1.USR user program, the following sequence can, for example, be used:
●
Rename file TEST1.USR with vmmcode.usr.
●
Copy file vmmcode.usr to the controller via USB.
●
Start the NanoJ program by writing object 2300
h
, bit 0 = "1" or by restarting the controller.
●
Check entry 2302
h
for error code and object 2301
h
, bit 0 = "1" (NanoJ program running).
Note
Due to limitations in the USB implementation, file "VMMCODE.USR" is, following a restart of the
controller, set to a size of 16 kB and the creation date set to 13.03.2012.
To stop a running program: write entry 2300
h
with bit 0 value = "0".
8.1.6 Structure of a NanoJ program
A user program consists of at least two instructions:
●
the preprocessor instruction #include "wrapper.h"
●
the void user(){} function
The code to be executed can be stored in the void user() function.
Note
The file names of the user programs must not be longer than eight characters plus three characters
in the suffix; file name main.cpp is permissible, file name aLongFileName.cpp is not permissible.
Version: 2.0.1 / FIR-v1650 97
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