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
RETURN
C123
VTS=300000 ‘Set Vector Path Velocity
ADTS=1000 ‘Set Vector Path Accel/Decel
PTS(20000;1;2,6000;3;4) ‘Set Position Target sync for all axis
GS ‘Go
TSWAIT ‘Wait for synchronized move to complete
RETURN