3) each command and data format – IAI America RCM-GW-DV User Manual
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DeviceNet Gateway
(3) Each command and data format
[1] “Position table data write” command
Command name
CH+
PLC output (request)
PLC input (response)
+2 1000H
3 Position
number
4
5
Position data *1
6
Axis number 0 to FH *2
7 (RSV)
Write a target
position
8 (RSV)
Same as the requested
value, if the command was
successful.
+2 1001H
3 Position
number
4
5
Positioning band data *3
6
Axis number 0 to FH *2
7 (RSV)
Write a positioning
band
8 (RSV)
Same as the requested
value, if the command was
successful.
+2 1002H
3 Position
number
4
5
Speed data *3
6
Axis number 0 to FH *2
7 (RSV)
Write a speed
8 (RSV)
Same as the requested
value, if the command was
successful.
+2 1003H
3 Position
number
4
5
Position data *1
6
Axis number 0 to FH *2
7 (RSV)
Write an individual
zone boundary +
8 (RSV)
Same as the requested
value, if the command was
successful.
+2 1004H
3 Position
number
4
5
Position data *1
6
Axis number 0 to FH *2
7 (RSV)
Write an individual
zone boundary –
8 (RSV)
Same as the requested
value, if the command was
successful.
+2 1005H
3 Position
number
4
Acceleration data *4
5 0
6
Axis number 0 to FH *2
7 (RSV)
Write an
acceleration
8 (RSV)
Same as the requested
value, if the command was
successful.