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3) each command and data format – IAI America RCM-GW-DV User Manual

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(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.