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#===cia402 config for Altivar 71===
loadrt cia402
loadrt conv_s32_u32
loadrt conv_u32_float
addf cia402.0.read-all servo-thread
addf cia402.0.write-all servo-thread
addf conv-s32-u32.0 servo-thread
addf conv-u32-float.0 servo-thread
addf conv-s32-float.3 servo-thread
#config
setp cia402.0.csp-mode 0
#setp cia402.0.pos-scale 3600
setp cia402.0.auto-fault-reset 1
setp cia402.0.spindle-mode 1
net PowerOnSw cia402.0.fault-reset
#from atv to cia402
net spindle-statusword-u32 cia402.0.statusword <= conv-s32-u32.0.out
net spindle-statusword-s32 conv-s32-u32.0.in
#net x-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
#net x-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
net spindle-drv-act-velo cia402.0.drv-actual-velocity
#from cia402 to atv
net spindle-controlword-u32 cia402.0.controlword => conv-u32-float.0.in
net spindle-controlword-float conv-u32-float.0.out
#net x-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
#net x-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position
net spindle-drv-target-velo-s32 cia402.0.drv-target-velocity => conv-s32-float.3.in
net spindle-drv-target-velo-float conv-s32-float.3.out
#from motion to cia
net MachineIsOn cia402.0.enable
net spindle-fault cia402.0.drv-fault
net spindle-vel-cmd-rpm cia402.0.velocity-cmd
net spindle-vel-act-rpm cia402.0.pos-fb
net Estop cia402.0.quick-stop
net spindle-enable cia402.0.run
#homing
#net x-home-index <= joint.0.index-enable => cia402.0.home
net spindle-vel-cmd-rps spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm spindle.0.speed-out
net spindle-vel-cmd-rpm-abs spindle.0.speed-out-abs
net spindle-enable spindle.0.on
net spindle-cw spindle.0.forward
net spindle-ccw spindle.0.reverse
net spindle-brake spindle.0.brake
net spindle-revs spindle.0.revs
net spindle-at-speed spindle.0.at-speed
net spindle-vel-fb-rps spindle.0.speed-in
net spindle-index-enable spindle.0.index-enable
net spindle-fault spindle.0.amp-fault-in