MPISqNodeConfig

Definition

typedef struct MPISqNodeConfig {
    char                            userLabel[MPIObjectLabelCharMAX+1]; 
                                    /* +1 for NULL terminator */
    MPISqNodeConfigAlarm            nodeAlarm;
    MPISqNodeConfigIoAbort          ioAbort;
    MPISqNodeConfigPacketError      upStreamError;
    MPISqNodeConfigPacketError      downStreamError;
    MPISqNodeConfigUserFault        userFault;

    MPISqNodeConfigControlLatency   controlLatency;

    MPISqNodeFeedbackSecondary      feedbackSecondary
                                    [MPISqNodeMaxFEEDBACK_SECONDARY]; 
} MPISqNodeConfig;

Change History: Modified in the 03.04.00. Modified in the 03.03.00.

Description

MPISqNodeConfig specifies the SynqNet node configurations.

userLabel	Consists of 16 characters that are used to label the sqNode object for user identification purposes. The userLabel field is NOT used by the controller.
nodeAlarm	A structure to configure a SynqNet node's trigger conditions for the Node Alarm output bit. The node alarm circuit is node specific, but is intended to notify users when the node has a problem. The nodeAlarm occurs on an ioAbort, DedicatedInAMP_FAULT (one per motor/drive) or an FPGA fails to operate with run-time code. See MPISqNodeConfigIoAbort and MPISqNodeConfigNodeAlarm for the trigger configurations.
ioAbort	A structure to configure a SynqNet node's trigger conditions for an I/O Abort action. When an ioAbort is triggered, the SynqNet node's outputs are disabled (set to the power-on condition). NOTE: The outputs are disabled on all SynqNet partner nodes, with the exception of the remote motion block's (rmb's) user outputs. For the rmb only, a user limit must be configured to disable the rmb's user output when an ioAbort occurs. See MPISqNodeConfigIoAbort for the trigger configurations.
upStreamError	A structure used to configure the fault and failure limits for the upstream SynqNet packets. The controller keeps track of how many bad packets are received from the Node and performs the appropriate actions when the fault and fail limits are reached. See MPISqNodeConfigPacketError for appropriate ranges and resulting actions. NOTE: Saving the upStreamError values to non-volatile flash memory is currently not supported. These values need to be set after each controller reset or power on.
downStreamError	A structure used to configure the fault and failure limits for the downstream SynqNet packets. The node keeps track of how many bad packets are received from the controller and performs the appropriate actions when the fault and fail limits are reached. See MPISqNodeConfigPacketError for appropriate ranges and resulting actions.
userFault	A structure to configure the trigger conditions for a SynqNet node user fault. When a user fault is triggered, a node ioAbort and/or an action on each motor will occur. See MPISqNodeConfigUserFault for the trigger configurations.
feedbackSecondary	A structure to configure the secondary encoder resources on the node. See MPISqNodeFeedbackSecondary for more information.
controlLatency	MPISqNodeConfigControlLatency structure to configure the minimum and maximum control latency limits.

MPISqNodeConfig

Definition

Description

See Also