FANUC Robotics America GFK-1535A - Manual (Page 63)

5-2 VersaMax™ System Genius® Network Interface Unit User's Manual – November 2000 GFK-1535A
5
Datagram Types
The table below shows the primary datagrams that may be acted upon by the NIU.
Datagram Type Subfunction Code
(hexadecimal)
Network Interface Unit
Action
Read Identification 00 send Read ID Reply
Read Configuration 02 send Read Configuration Reply
Write Configuration 04 process (possibly send configuration changes)
Assign Monitor 05 process
Begin Packet Sequence 06 start sequence
End Packet Sequence 07 end/check sequence
Read Diagnostics 08 send Read Diagnostics Reply
Clear All Faults 13 process
Set Baud Rate 14 process (send Set Baud Rate Reply)
Set Serial Bus Address
(SBA) 16 process
Set Status Table Address 17 process
Force I/O 18 process
Unforce I/O 19 process
Force BSM 1A process (send config. change)
Unforce BSM 1B process (send config. Change when last point is unforced)
Switch BSM 1C process
Configuration Protect 23 process
Configuration Unprotect 24 process
Read Map 2A send Read Map Reply
Set Operating Mode 39 process
Read I/O Forces(future) 40 send Read I/O Forces Reply (future)
Read Slot Diagnostics
(future) 42 send Read Slot Diagnostics Reply (future)
Read Operating Mode 44 send Read Operating Mode Reply