Monitoring Master And Slave Positions; Serial Communication And Ecam - YASKAWA XTRAWARE - V3.0 Manual

4.9.16. Monitoring Master and Slave Positions

The variable ECAM_Master_profile_position reflects the current position of
the master.
The variable ECAM_Slave_profile_position reflects the current position of
the slave, as dictated by the profile.

4.9.17. Serial Communication and ECAM

This chapter has described how ECAM profiles are created and downloaded
to the XtraDrive using XtraWare. ECAM profiles can also be sent to the
XtraDrive by a host, using serial communication. For more information on
using serial communication, see Chapter 6, Serial Interface Protocol.
4.9.17.1. ECAM Commands for Serial Communication
The following commands are used to send an ECAM profile to the XtraDrive,
using serial communication. More information on these commands is
available in Chapter 5, Command Reference.
♦ ECAM_TABLE_BEGIN: Clears any existing table from the XtraDrive
and initializes the new table.
♦ ECAM_PROFILE: Specifies the identifying number of the profile that is
to be loaded.
♦ ECAM_SEGMENT: Defines the range of the master values covered by
the next segment that is to be defined, and specifies the size of the
increments between consecutive points.
♦ ECAM_POINTS: Specifies the difference between the slave positions of
consecutive points.
♦ ECAM_TABLE_END: Finalizes the ECAM table that has been loaded.
4.9.17.2. Example of Using Serial Communication to Send an ECAM
Table to the XtraDrive
The code that follows downloads an ECAM table as specified in Table 14:
Sample ECAM Table, and illustrated in Figure 49: Sample ECAM Profile.
ECAM_TABLE_BEGIN
ECAM_PROFILE 1
ECAM_SEGMENT 200 10 0
ECAM_POINTS 4 0 2 3 4
ECAM_POINTS 4 6 6 8 9
ECAM_POINTS 4 9 11 12 12
ECAM_POINTS 4 13 14 14 15
ECAM_POINTS 4 15 15 16 16
XtraWare User Manual
Operating the XtraDrive Using XtraWare
67