Bosch 6000 User's Guide download pdf (Page 63)

6000 Series Programmer's Guide

QuickBASIC Source Code Example

(continued)

SUB createposition STATIC

'************************************************************************

' SUBPROGRAM : createposition

' PURPOSE : Manipulate the 4 bytes received from the fast status area into

' a position value. Only call createposition after calling readstatus.

' This function should only be called when reading commanded position

' or encoder position.

' REQUIRES : The 4 status bytes returned from readstatus - status1,

' status2, status3, status4.

' RETURNS : Position in global variable position#.

'************************************************************************

IF (status4 AND NEGATIVEMASK) THEN 'If negative take the two's complement

status4 = 255 - status4

status3 = 255 - status3

status2 = 255 - status2

status1 = 255 - status1

negvalue = 1

ELSE

negvalue = 0

END IF

highword# = status4 * 256# + status3 'Create high word (upper 2 bytes)

lowword# = status2 * 256# + status1 'Create low word (lower 2 bytes)

position# = highword# * 256# * 256# + lowword# 'Create position (4 bytes)

IF (negvalue = 1) THEN

position# = position# + 1 'Must add 1 for two's complement

position# = 0 - position# 'Value should be negative

END IF

END SUB

Customizing the

Fast Status

The number of customizable blocks differs between servo and a stepper products:

AT6n50: You can customize status blocks 3-8 (blocks 1 & 2 may not be changed).

AT6n00: You can customize status blocks 7 & 8 (blocks 1-6 may not be changed).

The FASTAT command syntax is FASTAT<i>,<i>. In the first data field (“<i>”), enter the

number of the status block you wish to change. In the second data field, enter the number of

the content option (see table below). For example, the FASTAT5,6 command configures

block #5 to report the position error.

To check the current configuration of all blocks in the status area, type “FASTAT” followed

by a carriage return; the controller will respond with the current option number selected for

each block. To check the configuration of one block, type “FASTATi” (i = number of the

block in question) followed by a carriage return.

It takes one system update period to process the FASTAT command and re-configure the fast

status blocks. If using the AT6n50 (servos), refer to the table in the SSFR command

description to determine the system update period (affected by the SSFR and INDAX). For the

AT6n00 (steppers), one system update period is 2ms.

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Bosch 6000 User's Guide Page 63

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