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;**** This code is executed on unit #2: **************************
NTID2 ; Set unit ID to 2
NTRATE100 ; Set the sharing rate to 100ms and enable this unit
VAR1=1VARSHI1 ; Load the value of unit #1's first shared data (1PE) into VAR1
WRITE"AXIS 1 AT POSITION" ; Report axis 1's current position (the value of VAR1)
WRVAR1
VAR2=8PCEA-3VARSHI2 ; Calculate offset position: Subtract synch unit #3's
; VARSHO2 (4PCEA) from the captured encoder position
; of axis #8 (8PCEA).
IF(VAR2>10000) ; If position offset by more than 10000 encoder counts
WRITE"AXIS 20 OUT OF POSITION"
NIF
VARB1=3VARSHI1 ; Get unit 3's VARSHO1 information (3AS)
IF(VARB1=B1) ; If axis 3 on unit #3 (axis #19) is in motion
WRITE"AXIS 19 IN MOTION"
NIF
;*************************************************************************
VARSHO Shared Output Variable for Peer-to-Peer Data Exchange
Type:
Variable; Network
Product Rev
Syntax:
<!>VARSHO<i><=xx>
Units:
i = variable number
xx = 32-bit data operand (see list below)
Range:
i = 1-8
Default:
n/a
Response:
VARSHO1: *VARSHO1=PME
See Also:
NTRATE, VAR, VARB, VARI, VARSHI
6K 5.3
The
VARSHO
command is used to set up data to be shared over a peer-to-peer Ethernet connection (i.e., connection between
other 6K or Gem6K products).
Each unit on the Ethernet peer-to-peer network has eight “shared output” variables (
VARSHO1 through VARSHO8
) with which
it can share with other units the values of its motion attributes, controller status, variables, etc. (see list below). The type of
data can be either binary, as in the
AS
(axis status) operand, or a 32-bit unscaled integer, as in
PE
(encoder position)
operand. The data stored in the
VARSHO
is not scaled.
For example
, unit #2 could execute
VARSHO1=3PE
to share the encoder position of axis #3 in shared output variable #1.
Each unit will re-broadcast its updated
VARSHO
data at a rate set with the
NTRATE
command.
RECOMMENDATION: Set all devices to broadcast at the same
NTRATE
rate of 50 milliseconds.
The Implementation Process, beginning on page 8, identifies how to use the
VARSHO
command in
context with the process of setting up the peer-to-peer Ethernet data sharing.
Options for shared data in the
VARSHO
variable:
A
.........Acceleration
NMCY
...Master cycle number
SS
..........System status
AD
.......Deceleration
OUT
......Output status
SWAP
.....Task swap assignment
ANI
.....Analog input voltage
PANI
...Analog input position
TASK
.....Task number
ANO
.....Analog output voltage
PC
........Commanded position
TIM
.......Timer value
AS
.......Axis status
PCC
......Captured command pos.
TRIG
.....Trigger interrupt status
ASX
.....Extended axis status
PCE
......Captured encoder pos.
US
..........User-defined status
D
.........Distance
PCME
...Captured master enc. pos.
V
............Velocity
DAC
.....DAC output value
PE
........Encoder position
VARI
.....Integer variable
DKEY
...RP240 keypad value
PER
......Position error
VARB
.....Binary variable
ER
.......Error status
PMAS
...Position of Master
VEL
.......Commanded velocity
FB
.......Feedback device pos.
PME
......Master encoder pos.
VELA
.....Actual velocity
FS
.......Following status
PSHF
...Net position shift
VMAS
.....Velocity of the master
IN
.......Input status
PSLV
...Follower pos. command
VARSHI
.Shared input variable
INO
.....Enable input status
SC
........Controller status
LIM
.....Limit input status
SCAN
...PLC scan time
MOV
.....Axis moving status
SEG
......Free segment buffers
page 32