IAI America RCM-GW-DV - Manual (Page 76)

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DeviceNet Gateway
6.3.4 Command Areas
Command areas are available in the command specification mode, and the various commands
explained below can be used to read/write the position table, among others.
(1) Address configuration
The request command area and response command area consist of seven words each (CH+2 to
CH+8).
*1 The values in the “CH+” column indicate relative channel numbers counted from the first
Gateway channel.
*2 Data 4 (RSV) and data 5 (RSV) are not currently used.
*3 If a command error occurs, the most significant bit (b15) of the response command will turn ON
and a corresponding error code of (4) will be set in response data 1.
Output from PLC
⇒ Gateway Unit
⇒ Input to each axis
Output from each axis
⇒ Gateway Unit
⇒ Input to PLC
b15 Upper byte b8 b15 Upper byte b8 b7 Lower byte b0 b7 Lower byte b0
Request command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
Response command
Data 0 *3
Data 1
Data 2
Data 3
Data 4
Data 5
*3 (error code)
(RSV) *2
(RSV) *2
(RSV) *2
(RSV) *2