Slaves Initialization

The Technosoft Motion Controller can manage up to 8 slaves, one being the slave embeded in the motion controller. Before sending any motion command to the slaves, the motion controller must execute the slaves’ initialization procedure. The procedure is initiated when the INITSLAVES command is executed by the motion controller. During initialization procedure the following actions are performed:

•	marks the end of setup data configuration for the slaves (ENDINIT command for each slave)

•	enables the power stage of the drive (AXISON command for each slave)

•	sets the motion controller address on the slaves required for automatic messages mechanism

The initialization commands are sent by the motion controller using multicast messages to the slave axes selected from the Axis Selection view.

The procedure ends when all the slaves report initialization complete or the timeout for wait expires. The initialization timeout can be disabled by setting the value to zero.

The initialization status of all slaves is grouped in the Slave Status Register (SSR) on motion controller.