IAI America RCM-GW-DV - Manual (Page 77)

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DeviceNet Gateway
(2) Command list
The available commands and corresponding command codes are listed below.
Function category Code Description
Positioner
operation axis
Simple direct
operation axis
Handshake 0000H Clear a request command { {
1000H Write a target position
1001H Write a positioning band
1002H Write a speed
1003H
Write an individual zone
boundary +
1004H
Write an individual zone
boundary –
1005H Write an acceleration
1006H Write a deceleration
1007H
Write a current-limiting value
for push-motion operation
1008H Write a load current threshold
Position table data write
1009H
Write a push-motion
operation setting
{ X
1040H Read a target position
1041H Read a positioning band
1042H Read a speed
1043H
Read an individual zone
boundary +
1044H
Read an individual zone
boundary –
1045H Read an acceleration
1046H Read a deceleration
1047H
Read a current-limiting value
for push-motion operation
Position table data read
1048H Read a load current threshold
{ X
0DA0H Write a POS write coil Position table data write
(ROM)
02E0H
Read a POS write completion
coil
{ X
Present alarm code read 0342H Read a present alarm code { {
Current position read
0440H
Read the current position of a
specified axis
{ {
Group-specified broadcast
0D03H
Synchronously move multiple
axes to the position
corresponding to the same
POS number
{ X
PIO/Modbus control
switching
0DA1H
Switch between PIO and
Modbus modes.
X {
: Available, X: Not available