Bridge - rs485 Serial Protocol Function

Uses the RS485 port on MD29 or UD70 to implement a high speed protocol bridge function. Point-to-point only, one side must be configured as master, one side as slave. Due to the internal protocol, Bridge must use an RS485 communcations mode. with 9 data bits, and the data rate must be the same in both nodes. If an incorrect mode is selected, an error will be indicated..

NOTE: UD70 Issue 5 hardware is required to run at 250kbps and 500kbps in Mode 12.

Bridge can be used for any application that needs to transfer a large amount of data between two UD70 or MD29 nodes. 2 examples are:

1. Protocol bridge. This block can be used to transfer data from a Unidrive/ Profibus-DP interface to a Unidrive or Mentor II CTNet interface. This allows a large amount of data to be transferred between 2 networks.

2. Array transfer. If there is a need to transfer a large array between 2 nodes, e.g. for a CAM table, Bridge could be used.

The wiring connections required to implement link are given in the table below.

Arguments

TxDat%

Specifies the integer data array containing the data values to be transmitted.

RxDat%

Specifies the integer data array into which received values will be written.

Regs%

Example

The following example shows a program to be used on a master node and a program to be used on a slave node in order to create a communications bridge.

Target/ Language Restrictions

Bridge can only be used on a UD7X or MD29 (Mentor II).

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Cambox - cam function generator

This function provides a versatile CAM function generator..

Arguments

EN%

Enable. 0 disables the CAMBOX, 1 enables.

Ctrl%

Bitmapped Control word.

X%

The X (master) axis array. The array can be constant (CONST) or variable. See CAM Tables information.

Y%

The Y (slave) axis array. The array can be either constant (CONST) or variable. See CAM Tables information.

fx%

Interpolation array, when using multiple interpolation. The array can be either constant (CONST) or variable. See CAM Tables information

Size%

This determines the size of the array and is used in conjunction with bit 1 of the Control Word and the Pointer start position. See CAM Tables information

Xin%

The X (master) axis reference to the CAMBOX.

Return Values

Q%

Periodic mode - Set high once CAMBOX is enabled.

Single shot mode - Set high once the CAM profile is complete. Cleared (set to zero) when the Reset bit is cleared.

Ptr%

The current position of the pointer within the CAM table.

Error%

Decimal value of the internal CAMBOX error.

Value	Meaning
0	Healthy
1	Array length defined by start pointer position and size is out of bounds of the dimensioned array.
2	The limit of 250 iterations of the CAMBOX has been exceeded due to the master (Xin%) axis increment/decrement delta value being too large to calculate.

Yout%

The interpolated output from the CAM generator, which is based on the value of Xin (master) with respect to the CAM tables and the type of interpolation used.

See Also

• CAMBOX2

• POSLOOP

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