botnanajs/examples/test_slave_api.js

Botnana Control API for Javascript

"use strict";

var botnana = require("../index");

function test_botnana() {
  // Show reponse data
  botnana.debug_level = 0;
  botnana.once("ready", function() {
    // Configuration API
    botnana.config.set_slave({
      position: 1,
      tag: "homing_method",
      value: 33
    });
    botnana.config.set_slave({
      position: 1,
      tag: "homing_speed_1",
      value: 18000
    });
    botnana.config.save();
    // Slave API
    botnana.ethercat.slave(1).set("home_offset", 2800);
    botnana.ethercat.slave(1).set("homing_method", 32);
    botnana.ethercat.slave(1).set("homing_speed_1", 1900000);
    botnana.ethercat.slave(1).set("homing_speed_2", 29000);
    botnana.ethercat.slave(1).set("homing_acceleration", 39000);
    botnana.ethercat.slave(1).set("profile_velocity", 18000000);
    botnana.ethercat.slave(1).set("profile_acceleration", 280000);
    botnana.ethercat.slave(1).set("profile_deceleration", 380000);
    botnana.on("homing_speed_1.1", function(value) {
      console.log("homing_speed_1.1 = " + value);
    });
    for (var i = 1; i <= botnana.ethercat.slave_count; i = i + 1) {
      botnana.ethercat.slave(i).get();
    }
    botnana.ethercat.slave(1).get_diff();
  });

  botnana.start("ws://192.168.7.2:3012");
}

test_botnana();

setTimeout(
  function() {
    console.log("set homing_speed_1.1 to 490000");
    botnana.ethercat.slave(1).set("homing_speed_1", 4900000);
    botnana.ethercat.slave(1).get_diff();
  },
  2000
);