IAI America RCM-GW-CC - Manual (Page 92)

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7.3 Command transmission and reception
The diagram below shows a timing chart for command transmission and reception.
The gateway analyzes the request command and responds at every time when control and status data
exchange for all axes which are always performed are ended.
The PLC and gateway unit execute the following.
[1] The PLC application confirms zero of the response command, then sets the necessary request command
and data.
[2] The gateway detects that the request command became other than zero, then transmits the request data
to the applicable axis.
[3] The gateway receives a response from the applicable axis, then outputs the response result.
[4] The PLC application confirms the response result, then clears the request command.
[5] The gateway confirms that the request command is cleared, then clears the response command and waits
for the next command.
When using continuously, repeat [1] to [5].
PLC request output
Gateway response
Request
command data
Transmission and
reception for controller are
executed by gateway.
Request = 0000
H
Response command
response data
Response=0000
H
[1]
[2]
[3]
[4]
[5]