IAI America RCM-GW-PR - Manual (Page 115)

109
PfofiBus Gateway
8.3 RC_ESYNC_00
Explanation; SV and PARA_N are transferred from the Gateway to the controller at the leading edge of MREQ,
and executed. Other parameters are always effective when this function block is called. For
example, even if MREQ is OFF, calling this function block during home return will change the
applicable output parameters in accordance with the home return operation.
Parameters;
I/O
Parameter
name
Data type Explanation
Input MREQ BOOL Issue a movement request upon FALSE → TRUE.
SON BOOL Servo on command
HOME BOOL Home return command
SV DINT Target position (Set value)
PARA_N INT Movement parameter (POS) number
STOP BOOL Pause command
ALMRS BOOL Alarm reset command
LADDR INT Gateway head I/O address
AXIS INT Axis number (0 to 15)
Output RDY BOOL Controller ready
SERVO BOOL Servo status
HEND BOOL Home return status
ALM BOOL Alarm status
EMG BOOL Emergency stop status
DONE BOOL One pulse is output upon completion of movement (PEND or
PSFL leading edge pulse).
MVES BOOL Movement start pulse
(PEND or PSFL trailing edge pulse).
PV DINT Current position (Process value)
AERR WORD The value of AXIS exceeds 15 or negative, or LADDR is
negative.
Controller ready
Servo status
Home return status
Alarm status
Emergency stop status
Movement complete pulse
Movement start pulse
Current position
Address error
Move request
Servo on
Home return
Target position
Movement parameter
number
Pause
Alarm reset
Gateway head address
Axis number