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The Mint keyword REMOTEADCDELTA can also be used to reduce the amount of CAN traffic.
This keyword allows the user to specify an amount by which an analog input must change (delta) before
a CAN message is generated. The value used will depend on the type of node; please refer to the
manufacturer’s instructions. This function can be used if the node has been set to ’Event’ mode using
the REMOTEMODE keyword.
The following example code will set the delta interrupt for analog input 3 on node 2, to 100:
REMOTEADCDELTA.1.2.3 = 100
B.2.10 HMI Operator Panels
Baldor produce a range of HMI (Human Machine Interface) operator panel nodes which, when fitted
with an optional CANopen driver card, can be fully exercised by a Baldor controller node over
CANopen. The software in the CANopen driver uses a communication protocol based on the CANopen
device profile for Human Machine Interfaces (DS-403). The types of HMI available range from a simple
low cost device with a 4x20 character display and 10 keys, to a powerful touchscreen device with a
16x40 character VGA graphical display.
All of the HMI operator panels use the same CANopen interface for communications which is very
similar to the singlecast communication described for Baldor controllers. Communication between a
Baldor controller and a HMI operator panel is achieved via the comms array in the HMI. This comms
array consists of the following:
H 254 x 32 -bit integer variables
H 254 x IEEE floating point variables.
Using the HMI Operator Panel design s oftware used to create the character/graphical layout for the HMI
display, these two groups of variables appear as two separate databases (INT32_DB and FLOAT_DB
respectively), using an index between 0h and FEh to access the individual variables. When accessing
these variables from a Baldor controller they appear as contiguous elements of the device’s c omms
array.
Data format
HMI database variable HMI variable index Baldor comms index
32-bit integer INT32_DB 1~FEh 1 ~ 254
IEEE floating point FLOAT_DB 1~FEh 255 ~ 508
For example, if the HMI panel were to be configured as CANopen node 30, the COMMS keyword could
be used to access the HMI data as shown:
COMMS(30,1) = 100 will set the 32 bit integer variable at index 1 to 100
COMMS(30,255) = 10.23 will set the float variable at index 255 to 10.23
? COMMS(30,1) will read the 32 bit integer variable at index 1
? COMMS(30,255) will read the float variable at index 255.
Note: It is useful to note that even though the comms array is being used to access data on the
HMI, the data is only stored on the HMI itself and is completely unrelated to the data stored in
the comms array on the Baldor controller.