IAI America RCM-GW-CC - Manual (Page 70)

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6.6.3 Command region
When request command RY (2F-20) and data RY (8F-30) related to the request command are outputted
from the PLC, response command (2F-20) and data related to the response command are inputted to the
PLC input.
The request command and response command respectively consist of one word, and the request data
and response data respectively consist of seven words, however, actually use five words. (Refer to the
overall address configuration.)
(1) Command list
Commands which can be used and command codes are as follows.
Classification of functions
Code Description
Hand shake 0000
H
Request command clear
1000
H
Target position write
1001
H
Positioning width write
1002
H
Speed write
1003
H
Individual zone boundary + side write
1004
H
Individual zone boundary - side write
1005
H
Acceleration write
1006
H
Deceleration write
1007
H
Current limit value write at push
Position table data write
1008
H
Load current threshold value write
1040
H
Target position read
1041
H
Positioning width read
1042
H
Speed read
1043
H
Individual zone boundary + side read
1044
H
Individual zone boundary - side read
1045
H
Acceleration read
1046
H
Deceleration read
1047
H
Current limit value read at push
Position table data read
1048
H
Load current threshold value read
0DA0
H
POS writing coil write Position table data recorded on ROM
02E0
H
POS writing completion coil read
Present occurring alarm code read 0342
H
Presently occurring alarm code read
Present value monitor 0440
H
Designated axis present position monitor
Group designated broadcast operation 0D03
H
Synchronizing movement to same POS No. position
PIO/Modbus control switching 0DA1
H
PIO/Modbus switching