Ascii file containing the device commands, which must be in the SETUP_DIR folder alias and which RTE sends to execution as follows.
If no active Ethercat line:
•Execution occurs before "waiting transducers ready"
If active Ethercat lines:
•It waits until all devices on the lines are in SAFEOPERATIONAL. The wait has a timeout of 30 seconds. This timeout can be changed via the predefined variable bopex_to
•You execute the file commands and then command the transition to OPERATIONAL before "waiting transducers ready"
NOTE: BOPEX -> Before OPerational and EXecution.
Its utility is both in being able to read at switch on the value of objects and associate them with registers and the other way around, all without having to write lines of code or modify RFBCED's START-UP commands (fbc file).
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 e 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
; set functioning mode and axis 1 gains 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 |
