Dynamic reconfiguration of groups

Description

A new command is available for the slave and coordinated axes groups in order to change, by program, the member axes in the group.

This command will have the same effects as a reconfiguration in online mode (channel emergency stop).

It will allow:

The master of a slave group to be changed on the fly
The member axes in the group to be changed

Syntax of the MOD_PARAM instruction:

MOD_PARAM %CHr.m,i: writing %Mx adjustment words of group i, of the module situated at the r.m address (rack number, position in the rack).

e.g.: writing slave mode parameters: writing of slave group 24 situated at slot address 4.

IF %M38 THEN

MOD_PARAM (%CH4.24,0,0,0,0);

RESET %M38;

END_IF;

Check exchanges:

The two following bits can be used to check the writing in the configuration words:

%MWr.m.i,0.15: this bit is set to 1 when the exchange is in process. It is reset to 0 when the exchange has been completed.

%MWr.m,i,1.15: this bit is set to 1 when the exchange is erroneous (Parameters out of range, etc.)

If you are running Control Expert, this function is written as follows:

Mod_Param (% CHr.m.c,0,0,0,0);

The parameters within parentheses are always equal to 0.

This function will use the parameter words (%MW) as an interface.

Associated Language Objects

This function will use the parameter %MW as an interface. When this function is called, the %MW will be recopied into the constants (%KW) and the group will then carry out a reconfiguration.

For slave groups:

Source memory words	Source memory word mnemonics	Destination constant words	Comments
%MWx.y.36	SLAVE_CHANNEL_1	%KWx.y.3	Number of slave 1 axis of slave group
%MWx.y.37	FOLL_DESCRIPTION_1	%KWx.y.4	Definition of slave 1 axis of slave group
%MWx.y.44	SLAVE_CHANNEL_2	%KWx.y.11	Number of slave 2 axis of slave group
%MWx.y.45	FOLL_DESCRIPTION_2	%KWx.y.12	Definition of slave 2 axis of slave group
%MWx.y.52	SLAVE_CHANNEL_3	%KWx.y.19	Number of slave 3 axis of slave group
%MWx.y.53	FOLL_DESCRIPTION_3	%KWx.y.20	Definition of slave 3 axis of slave group
%MWx.y.60	SLAVE_CHANNEL_4	%KWx.y.27	Number of slave 4 axis of slave group
%MWx.y.61	FOLL_DESCRIPTION_4	%KWx.y.28	Definition of slave 4 axis of slave group
%MWx.y.68	SLAVE_CHANNEL_5	%KWx.y.35	Number of slave 5 axis of slave group
%MWx.y.69	FOLL_DESCRIPTION_5	%KWx.y.36	Definition of slave 5 axis of slave group
%MWx.y.76	SLAVE_CHANNEL_6	%KWx.y.43	Number of slave 6 axis of slave group
%MWx.y.77	FOLL_DESCRIPTION_6	%KWx.y.44	Definition of slave 6 axis of slave group

For coordinated axes groups: adding the Mod_Param function requires the addition of the following %mW to the interface language:

Source memory words	Destination constant words	Comments
%MWx.y.63	%KWx.y.4	Number of the axis member 0 in the coordinated axes group
%MWx.y.64	%KWx.y.5	Number of the axis member 1 in the coordinated axes group
%MWx.y.65	%KWx.y.6	Number of the axis member 2 in the coordinated axes group
%MWx.y.66	%KWx.y.7	Number of the axis member 3 in the coordinated axes group
%MWx.y.67	%KWx.y.8	Number of the axis member 4 in the coordinated axes group
%MWx.y.68	%KWx.y.9	Number of the axis member 5 in the coordinated axes group
%MWx.y.69	%KWx.y.10	Number of the axis member 6 in the coordinated axes group
%MWx.y.70	%KWx.y.11	Number of the axis member 7 in the coordinated axes group

When this function is called, the words (%MW) will be recopied into the constants (%KW) and the group will then carry out a reconfiguration.

The contents of these %MW gives the application-specific channel number of all the member axes in the coordinated axes group.