Since RTE 34.19.04, in order to debug the program, the possibility of setting axes as emulated has been added. This feature is currently available for axes defined CANOpen, EtherCAT COE and SOE controlled in position or speed.

By defining an axis in emulated mode, the control takes care of the following items:

•In CoE/SoE disabling the node from the ethercat line(ECAT_SLAVE_OFF).

•Generating a real quota according to the set reference (velocity or position). In case of velocity reference, KBIT2UNIT and KFF must be set. The position is reconstructed using a low-pass filter(fe_omega).

•From RTE 34.24.10, management of emulated axes using velocity reference with units not in bitEncoder/sec, through the variable E_KAR

•Power Set management

•Management of object read instruction (does not output error but always returns value 0)

NOTE: Shell commands will instead respond with error given the absence of the node.

•Object write instruction handling (does not issue error)

NOTE: Shell commands will instead respond with error given the absence of the node.

•Instruction handling read NMT state (does not output error and always returns code 5 -operational-)

NOTE: Shell commands will instead respond with error given the absence of the node.

•Instruction handling write NMT state (does not output error)

NOTE: Shell commands will instead respond with error given the absence of the node.

•Disabling online node diagnostic management

•Zero cycle of emulated axes is executed immediately with success

•Generation at each switch on (as a perpetual reminder) of alarm 949 (presence of emulated axes)

•Warning messages are inserted in the report to highlight the presence of emulated axis commands

•In the visualization commands transducer description and references (INFO xx) the use of emulated axes is highlighted

The definition of emulated axes can be done through the predefined variable MASK_EMUL_AX in:

•OVERRIDE.CFG file

•File RTE.CFG