Combitronic 基本子程式寫法

Combitronic為SmartMotor獨特內部馬達並聯程式語言

新馬達尚未定址時, 可先應用以下指令測試

RCAN          '詢問CAN通訊狀況

RCAN 0       '正常情況回覆為0

RCADDR   '詢問CAN預設定址

RCBAUD   '詢問CAN BAUD RATE預設值,正常所有馬達BAUD RATE都要一致

Slave 寫法:

ECHO

EIGN(2) EIGN(3) ZS 'Bypass Over Travel Limits

a=CADDR 'Get pre-assigned CAN Bus Address

ADDR=a 'Set Motor Address to CAN address

END

Master寫法:

ECHO

EIGN(2) EIGN(3) ZS

a=CADDR

ADDR=a

GOSUB(1)

GOSUB(123)

END

C1

VT=32768

ADT=1000

PRT=10000

VT:0=VT              'Set speed in slave axis 

ADT:0=AT             'set accel in slave axis

PRT:2=20000

PRT:3=10000

PRT:4=40000

G

G:2

G:3

G:4

TWAIT

WAIT=5000

O:0=0

TWAIT

RETURN

C123

VTS=300000               'Set Vector Path Velocity

ADTS=1000                'Set Vector Path Accel/Decel

PTS(20000;1;2,60000;3;4) 'Set Position Target sync for all axis

GS                       'Go

TSWAIT                   'Wait for synchronized move to complete

RETURN