Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 36)

36 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 3 General Commands (ASCII)
Triggered Data Collection (MOT)
Attribute Value
Command MOT
Description Sets, watches, and reads trigger monitor
Format STX ID # MOT Ch1 Ch2 Src SP Num Mode Pos Level : BSS ETX
Data Argument Description
Ch1, Ch2 Input signals, See Appendix A
(variables 0x00…0x0F only)
Src Trigger Source (0x000…0x009, 0x101…0x112)
Refer to Monitor Variables on page 131 for the list of variables.
0x101-0x10A: DI#1…DI#10
0x10B: Emergency Stop Input
0x10C-0x10E: DO#1…DO#3
0x10F: Safety Alarm Output
0x110-0x112: DO#4…DO#6
SP Sample Period, Range 0x01…0x64 (0.2…20 ms)
Num Number of data points *10, Range 0x01…0x1E (1…30)
Mode Trigger mode
1 = Positive Edge
2 = Negative Edge
Pos Trigger Position (1…9)
The percentage of data to be received before the trigger point.
For example, if Pos = 3 then 30% of data received before the
trigger point and 70% of data received after the trigger point.
Level Trigger level/threshold; the value of the Trigger Source. Values
are 4 or 8-bytes signed.
Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data
Collection (MOT) command variants below. See
Figure 1 for command examples.
Response ACK
Next Command MOT
Format STX ID # MOT : BSS ETX
Usage Note This command is sent to the drive to verify data is available.
Response If data is not ready: STX ID $ BSY : BSS ETX
If data is ready: STX ID $ TOK : BSS ETX
Next Command MOT
Format STX ID # MOT NumD : BSS ETX
Data Argument Description
NumD Data Point to retrieve the data from; Range 00…(Num-1)
Usage Note This command can be used when previous command returned TOK.
Send ESC to stop data collection.
Response Format STX ID $ MOT V1&V2&...V20 : BSS ETX
Response Data Argument Description
V1…V20 Data transmission is done in blocks of 10.
Because there are 2 channels, 20 values are returned, with values
alternating between the first channel and the second channel.
Values are a signed integer of variable length (4 or 8-bytes).