MPINodeConfig / MEINodeConfig

MPINodeConfig

 

 
typedef struct MPINodeConfig {
    long	address;	/* SERCOS address 1 ..254 */
    long	motorNumber;
    long	filterNumber;
    MPINodeMode	mode;
} MPINodeConfig;
Description
  address In SERCOS each Node has a unique address on the ring(1 - 254).
  motorNumber The number of the MPIMotor associated with the SERCOS Node (1:1).
  filterNumber The number of the Filter associeated with the SERCOS Node (1:1).
  mode The position control algorithm used by the node.

 

MEINodeConfig

 

 
typedef struct MEINodeConfig {
    long		Enabled;
    long		StatusInvertMask;
    MEINodeIdnCyclic	At[MEIXmpNodeCyclicCountMAX];
    MEINodeRealTimeBit	RealTimeStatus[MEIXmpNodeRealTimeBitCountMAX];
    MEINodeRealTimeWord	RealTimeStatusWord;
    long		ControlInvertMask;
    MEINodeIdnCyclic	Mdt[MEIXmpNodeCyclicCountMAX];
    MEINodeRealTimeBit	RealTimeControl[MEIXmpNodeRealTimeBitCountMAX];
    long		HostRealTimeControlWord;
    MEINodeRealTimeWord	RealTimeControlWord;
} MEINodeConfig;
Description

NodeConfig is the configuration data that defines the operation of a Node.
  Enabled this variable reports whether or not the Node is enabled.
  StatusInvertMask a bit mask that is used to identify which status bits are inverted.
  At a list of IDNs that make up the AT data for a Node.
  RealTimeStatus in the RealTimeStatusWord there are 2 bits that can be assigned through IDN's to report certain events.
  RealTimeStatusWord located in the AT, this word is a bit mask that is used to report the status of a node.
  ControlInvertMask a bit mask that is used to identify which control bits are inverted.
  Md a list of IDNs that make up the MDT data that is sent to a Node.
  RealTimeControl in the RealTimeControlWord there are 2 bits that can be assigned through IDNs to trigger certain actions or report status from the controller to the Node.
  HostRealTimeControlWord  
  RealTimeControlWord located in the MDT, this word is a bit mask that is used to control the node and report controller status.
     
See Also mpiNodeConfigGet | mpiNodeConfigSet