Parker Hannifin
AcroBASIC Language Access to CANopen I/O
All “objects” (for example steppers, encoders, axes, and masters) in an ACR
controller may be accessed via bits and parameters as well as commands. In
many cases, (for example, ADC inputs) the values may be accessed only
through bits or parameters. An external digital input or output is the same in
function and use as an on board digital input or output, and are used in the
same way in the language. This is true not just for
SET and CLR, but for IF,
WHILE, INH, LD, and any other command that has a flag as an argument.
This also applies to using parameters with analog I/O. To be consistent with
the current language, extend all existing on board I/O functionality to external
I/O, and facilitate backward compatibility with existing applications, external
I/O are represented with bits and parameters in exactly the same way
onboard I/O is.
Network and Node Information Parameters and Flags
After the ACR90x0 has started the CANopen network, and discovered and
characterized nodes on the network, it fills in an information parameter block
for the network and each discovered node. It also updates the Extended I/O
Control/Status flags shown below.
Extended I/O Control/Status (P4448) Flag Number
Control Flags
Start Network 11265
Reset Network 11266
Reserved 11267
Status Flags
CANopen controller installed 11268
Network Operational 11269
Network Start Failed 11270
Node Failure 11271
SW Rx Overflow 11272
HW Rx Overflow 11273
132 ACR9000 Series Hardware Installation Guide
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