.

TRUST Automation:
SynqNet Remote Motion Block
TA802

For more information, please go to http://www.trust-automation.com/synqrmb.html.

Model
Axes
Description
TA802-D01
2
 2-Axis RMB for Brush/Brushless (Sine Comm.)
TA802-E01
2
 2-Axis RMB for Brush/Brushless
TA802-F01
2
 2-Axis RMB with Step/Direction Output

 

Drive FPGA Table

Node Type Option Valid FPGAs Name
0x00090001
0x00000003
0xC0FE002D
0x00090001
0x00000004
0xC0FE002D
0x00090001
0x00000005
0xC0FE002D

 

Reading the hall sensors on the Trust RMBs

When using I/O on SynqNet nodes, use the motor I/O masks in the drive's header file for clearer code. Most SynqNet nodes have a header file that defines things that are specific to that drive. The header files are found in C:\mei\XMP\sqNodeLib\include. An example is shown below that reads the hall sensors from the Trust TA802.

/*
	Shows the hall sensors.
	Make sure you include trust_ta800.h. Ex:
	#include "C:\mei\XMP\sqNodeLib\include\trust_ta800.h"

	The hall sensor masks are found in the enum TA800MotorIoMask.
*/

void showHalls(MPIMotor motor)
{
   MPIMotorIo io;
     long returnValue;
     long a, b, c;
	
     while (meiPlatformKey(MPIWaitPOLL) <= 0)
     {
        returnValue = mpiMotorIoGet(motor, &io);
        msgCHECK(returnValue);
		
        a = ((io.input & TA800MotorIoMaskHALL_A) == TA800MotorIoMaskHALL_A);
        b = ((io.input & TA800MotorIoMaskHALL_B) == TA800MotorIoMaskHALL_B);
        c = ((io.input & TA800MotorIoMaskHALL_C) == TA800MotorIoMaskHALL_C);

        /* Prints a 1 or 0 indicating the hall state */
        printf("Hall A %d B %d C %d\t\t\r", a, b, c);

        meiPlatformSleep(100);
     }
}
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