Generalities
In order to be able to load and/or save parameters from a drive connected to a Robox control via can line with at least protocol 301, are required a command file and, in case, any parameter files in which are described:
•The sequence of operations to perform parameter saving from the drive (UPLOAD)
•The sequence of operations to perform the loading of parameters to the drive (DOWNLOAD)
•The list of parameters to be saved/uploaded
•The description of the individual parameter data
•Any additional information
Command files and parameter files
Both files are divided into sections identified by a keyword enclosed in "[]." Each section has specific parameters identified by a keyword followed by the "=" character (no spaces in between), following which is the value of the parameter, which may be numeric or alphanumeric.
The extension DCF (Data Configuration File) is suggested for the parameter file.
The structure of these files is shown below.
NOTE: In addition to the sections listed below, it is also possible to include the other sections provided in the DS306 EDS (Electronic Data Sheet) specification, these additional sections will be ignored by RTE.
FileInfo
File information section. This section MUST always be present.
[FileInfo]
Name |
Attributes |
Description |
|---|---|---|
FileName=c:\folder\filecommandname |
optional |
|
FileEDS=filecommandname |
optional |
|
FileVersion=nn |
optional |
|
FileRevision=nn |
optional |
|
Description=desc |
optional |
Max 243 characters (CR-LF not allowed) |
CreationDate=dd-mm-yyyy |
optional |
|
CreationTime=dd-mm-yyyy |
optional |
|
CreateBy= first and last name |
optional |
|
ModificationDate= dd-mm-yyyy |
optional |
|
ModificationTime= dd-mm-yyyy |
optional |
|
ModifiedBy= first and last name |
optional |
|
OperationToUploadParameters
Information section describing the operation to be performed to save parameters from the drives. This section is present only in the command file.
[OperationToUploadParameters]
Name |
Attributes |
Description |
|---|---|---|
NrOfOperation=n |
mandatory |
Number of subsections defining section |
[SDO] ; Section to command the execution of an SDO
Name |
Attributes |
Description |
|---|---|---|
NrOfOperation=n |
mandatory |
Number of subsections defining section |
ObjectIndex=n |
mandatory |
|
SubIndex=n |
mandatory |
|
DataType=n |
mandatory |
(see DATA TYPE table) |
ParameterValue=val |
mandatory |
|
ParameterName=name |
optional |
|
[NMT] ; Section to give a NMT command
Name |
Attributes |
Description |
|---|---|---|
ParameterValue=code |
mandatory |
Allowed code values: 1 = START 2 = STOP 128 = ENTER PREOPERATIONAL 129 = RESET NODE 130 = RESET COMMUNICATION |
[WaitTime] ; Section to give a wait time command
[WaitNMT] ; Section to give a command to wait for an NMT state
Name |
Attributes |
Description |
|---|---|---|
ParameterValue=code |
mandatory |
Allowed code values: 4 = Stop 5 = Operational 127 = Preoperational |
[Upload] ; Executive command to save specified parameters by reading from external device and storing to file
OperationToDownloadParameters
Information section describing the operation to be performed for loading parameters on the drives. This section is present only in the command file.
[OperationToDownloadParameters]
[SDO] ; Section to command the execution of an SDO
Name |
Attributes |
Description |
|---|---|---|
ObjectIndex=n |
mandatory |
Subject index (in hex format) |
SubIndex=n |
mandatory |
Subindex of the object (in hex format) |
DataType=n |
mandatory |
Data type (see DATA TYPE table) |
ParameterValue=val |
mandatory |
parameter value |
ParameterName=name |
optional |
parameter name |
[NMT] ; Section to give a NMT command
Name |
Attributes |
Description |
|---|---|---|
ParameterValue=code |
mandatory |
Allowed code values: 1 = START 2 = STOP 128 = ENTER PREOPERATIONAL 129 = RESET NODE 130 = RESET COMMUNICATION |
[WaitTime] ; Section to give a wait time command
Name |
Attributes |
Description |
|---|---|---|
ParameterValue=time |
mandatory |
Time expressed in milliseconds, max 32 sec (32000ms) |
[WaitNMT] ; Section to give a command to wait for a state nmt
Name |
Attributes |
Description |
|---|---|---|
ParameterValue=code |
mandatory |
Allowed code values: 4 = STOP 5 = OPERATIONAL 127 = PREOPERATIONAL |
[Download] ; Executive command of loading specified parameters by reading from file and loading to external device. Parameters are sent as SDOs in the order in which the relevant objects were written to the file.
NodeInfo
Section of information related to the management of the drives parameter file. It is used to specify the parameter file name of each axis directly within the command file.
[NodeInfonn] ; where nn is the logical Can address of the drive (see COCn.CFG). Put only the necessary digits (e.g., [NODEINFO1] or [NODEINFO23]).
Name |
Attributes |
Description |
|---|---|---|
ParameterFileName=c:\namecommandfile\... |
mandatory |
|
Description=desc |
optional |
Max 243 characters (CR-LF not allowed) |
Objects
Sections in which the objects to be considered as drive parameters are specified.
There are three sections:
[MandatoryObjects]
[OptionalObjects] (1000÷1FFF and 6000÷6FFF)
[ManufacturerSpecificObjects] (2000÷5FFF)
The structure of these sections is the same and consists of:
•SupportedOBjects=n (number of objects whose description follows)
•"Objects" parameters
•ObjectIndex
[index] (or [indexSubn] if subIndex>0) ; description of the individual entries (IndexSubindex) of the various objects where index is the 4-digit hexadecimal number (without prefix 0x) and n is the subindex number
Name |
Attributes |
Description |
|---|---|---|
ObjectType=n |
optional |
Type of object |
DataType=n |
mandatory |
Data type (see DATA TYPE table) |
AccessType=tt |
mandatory |
Access type RO/RW/WO |
ParameterValue=n |
mandatory if parameter file |
Parameter value |
Usage
The user has two instructions for handling the parameter file: co_par_upload and co_par_download.
Tables
Data type
Extract from table 30 of DS301 (9.5.3 Data Type Entry Specification)
Value |
Type |
|---|---|
1 |
Boolean |
2 |
Integer 8 |
3 |
Integer 16 |
4 |
Integer 32 |
5 |
Unsigned 8 |
6 |
Unsigned 16 |
7 |
Unsigned 32 |
8 |
Real32 (ieee754) |
11 |
Real64 (ieee754) |
Returned commands
Codes returned by template file management operations.
Value |
Meaning |
|---|---|
-n |
Internal error code (contact Robox) |
0 |
Operation performed correctly |
1 |
Fewer arguments than expected |
2 |
Illegal arguments |
3 |
File does not exist |
4 |
Files with illegal content |
5 |
Aborted operation on request |
6 |
Working memory exhausted impossible to perform operation - |
7 |
Unable to create additional save files (backups) |
8 |
Error in writing to file |
9 |
Error in reading from file |
10 |
DCF file being created is larger than expected - unable to perform operation - |
11 |
Error on execution of CAN OPEN command (see CO_SDO_ERR) |
12 |
Error on opening the file |
13 |
Resource occupied |
Command Status
Operational steps during function execution or line number of the file on which the problem was found.
Value |
Meaning |
|---|---|
0 |
Operation executed correctly |
-1 |
Waiting for free local command handler |
-2 |
Waiting for command executor at main level free |
-3 |
Open template file |
-4 |
Memory initialization |
-5 |
Transferring from file to memory |
-6 |
Searching nodeInfo in template |
-7 |
Open or Rename parameter file |
-8 |
Executing communication commands |
-9 |
Writing parameter files to flash |
Example
coe_robj -T9 1 0x100a 0x0 -SR 4 coe_robj -T9 1 0x3000 0xc -SR 11 coe_robj -T9 2 0x3000 0xc -SR 12 ; set functioning mode and gains axis 1 coe_wobj -T2 1 0x6060 0 8 ; 8 CSP position mode ; 9 CSV velocity mode coe_Wobj -T4 1 0X60FB 1 1 ; Kp1 ; pro_gai = Kp1 * Kp2 / KD ; KP 2 = 1 and Kpd = 1 coe_wobj -T7 1 0x60FB 11 100 ; kff 100% coe_wobj -T7 1 0x6065 0 10000 ; following error window coe_wobj -T6 1 0x6066 0 50 ; following error time
; imposed functioning mode and gains axis 1 coe_wobj -T2 2 0x6060 0 8 ; 8 CSP position mode ; 9 CSV velocity mode coe_Wobj -T4 2 0X60FB 1 1 ; Kp1 ; pro_gai = Kp1 * Kp2 / KD ; KP 2 = 1 e Kpd = 1 coe_wobj -T7 2 0x60FB 11 100 ; kff 100% coe_wobj -T7 2 0x6065 0 10000 ; following error window coe_wobj -T6 2 0x6066 0 50 ; following error time |
