Parker ACR9000 - Page 141

Parker Hannifin
Saved Parameters
All the parameters required to set up the extended I/O network are saved
with the
ESAVE command, and automatically recalled on power up. In
addition, some of the parameters determined by the controller, such as the
total number of analog and digital I/O, are also saved with the
ESAVE
command. This allows an application to compare the total I/O expected
before the network is started with the actual amount found when the network
is started. The exact parameters saved and recalled are P32768 through
P32778, the node IDs for each node, and the gains and offsets for all DAC
and ADC parameter blocks of each node.
Example
The following example uses two Parker I/O nodes. The first, configured as
node 3, has a PIO-337, four digital inputs, four digital outputs, four analog
inputs (0 to 10 VDC) and two analog outputs (0 to 10 VDC). The second,
configured as node 4, has a PIO-347, four digital inputs, four digital outputs,
four analog inputs (0 to 10 VDC) and two analog outputs (0 to 10 VDC). They
are both configured at a bit rate of 1 Mb. The example shows the required
setup, and how to use the data in a very basic program.
10 P32768 = 5 :REM SET THE CONTROLLER ID TO 5
20 P32769 = 1000 :REM SET THE BIT RATE TO 1 Mb
30 P32770 = 2 :REM TELL THE CONTROLLER THERE
:REM ARE 2 SLAVES ON THE NETWORK
40 P33024 = 3 :REM SET NODE 0 TO PHYSICAL NODE 3
50 P33040 = 4 :REM SET NODE 1 TO PHYSICAL NODE 4
60 P33056 = 0 :REM SET NODE 2 TO NOTHING
70 P33072 = 0 :REM SET NODE 2 TO NOTHING
80 P32772 = 50 :REM SET THE CYCLIC PERIOD TO 50 ms
100 SET11265 :REM START THE NETWORK
110 DWL1 :REM DWELL FOR A SECOND TO ALLOW THE
:REM NETWORK TO BECOME OPERATIONAL
120 IF (NOT BIT 11269) THEN SET 11266
:REM IF THE NETWORK IS NOT OPERATIONAL AT
:REM THIS POINT THEN TRY TO RESET IT
:REM MORE CODE MAY BE NEEDED HERE TO ENSURE THE NETWORK IS OPERATIONAL
200 INH 11520 :REM WAIT UNTIL THE FIRST DIGITAL INPUT ON
:REM NODE 0 IS ON
210 SET 12033 :REM TURN ON DIGITAL OUTPUT 2 ON NODE 0
220 SET 13057 :REM TURN ON DIGITAL OUTPUT 2 ON NODE 1
230 IF (P33288 > 5.0) THEN P33792 = 2.5
:REM IF ANALOG INPUT 1 FROM NODE 0 IS
:REM GREATER THAN 5 VDC THEN SET ANALOG
:REM OUTPUT 1 ON NODE 1 TO 2.5 VDC
240 INH –11520 :REM WAIT UNTIL THE FIRST DIGITAL INPUT ON
:REM NODE 0 IS OFF
250 CLR 12033 :REM TURN OFF DIGITAL OUTPUT 2 ON NODE 0
260 CLR 13057 :REM TURN OFF DIGITAL OUTPUT 2 ON NODE 1
270 P33792 = 0 :REM RESET ANALOG OUTPUT 1 ON NODE 1 TO 0
Appendix E CANopen 141
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