Delta RMC151 - Manual (Page 546)

RMC70/150 and RMCTools User Manual
To issue a single command to the RMC70, use the following steps:
1. Wait until the Command Request bit in the Command Register (0) of the Command
Block is equal to the Command Acknowledge bit in register 0 of the Response
Block. If they are not equal, the RMC is currently processing a command request.
2. Enter the command number in bits 0-7 of the Command Register (0) of the Command
Block.
3. If the command has any parameters, put them in registers 1-5 of the Command Block.
4. Clear the Deferred Command bits.
5. Set the desired Axis Select bit in the Command Register. The command will be sent
simultaneously to each axis you select.
Note:
Using this method, you can send a single command to multiple axes simultaneously.
You cannot send different commands to multiple axes simultaneously. To send
different commands to multiple axes simultaneously, see the Issue Simultaneous
Commands section below.
6. Toggle the Command Request bit.
7. Wait until the Command Request bit is equal to the Command Acknowledge
bit. When they are equal, the RMC70 has received the command.
NOTE:
Until the Command Acknowledge bit matches the Command Request bit, the Input Data
registers, including the Status Bits registers, do not reflect having received the command.
Example
A Move Absolute (20) command is issued using the PROFIBUS Command Block. Until the
Command Requestbit matches the Command Acknowledgebit after the Command
Requestbit has been toggled, the In Positionbit should not be checked as it may still be set
for the previously requested move. Once the Acknowledgetoggles to match, the In
Positionbit will have been cleared and when it is set, it is due to the new command being
complete. Similar synchronization issues are resolved in the same way with other status bits
and registers.
Issue Simultaneous Commands
Although only one command may be sent at a time to the RMC75P via PROFIBUS, it is
possible to simultaneously issue different commands to several axes by using deferred
commands. Deferred commands are stored in the PROFIBUS command buffer until all
deferred commands are received. They are then executed simultaneously. Bits 30 and 29
in the Command Data Register of the Command Block define the deferred status of each
command issued. The bits are used as follows:
Bit
30 Bit
29
Action
0 0 Single Command: When both bits are zero, the command is not
deferred. The command is executed normally. If the PROFIBUS command
buffer contains any commands, an error is logged in the Event Log and
the commands are removed from the command buffer without being
executed. The new command is still issued.
0 1 Last Deferred: This command and any deferred commands in the
526 Delta Computer Systems, Inc.