Delta RMC101 - Manual (Page 471)

PROFIBUS-DP 5.4
Communications 5-221
I+1 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 0
+2 XXXX|XXXX|XXXX|XXXX (XXXX) Actual Position of axis 0
I+3 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 1
+4 XXXX|XXXX|XXXX|XXXX (XXXX) Drive of axis 1
Compact Mode without Sync Example
Suppose you have an RMC100-M1-PROFI and would like the Status and Actual Position for axis
0, and you would like the Status and Drive for axis 1. You would send commands with the
following format:
SAR CMND INDX (HEX)
O+0 0000|0010|XXXX|XXXX (02XX) Requests Actual Position
+1 XXXX|XXXX|XXXX|XXXX (XXXX) Data for command on axis 0
O+2 0000|0101|XXXX|XXXX (05XX) Requests Drive Output
+3 XXXX|XXXX|XXXX|XXXX (XXXX) Data for command on axis 1
When the RMC sees the changes to the SAR field, it processes the commands. As a result, the
input registers would hold the following values:
I+0 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 0
+1 XXXX|XXXX|XXXX|XXXX (XXXX) Actual Position of axis 0
I+2 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 1
+3 XXXX|XXXX|XXXX|XXXX (XXXX) Drive of axis 1
See also:
Using the PROFIBUS-DP Compact Mode
Compact Mode Output Register Overview
Command Words for PROFIBUS-DP Compact Mode
5.4.6.3 Compact Mode Output Register Overview
In addition to the Input registers, each RMC module requires two 16-bit registers per axis to hold
commands. The two command registers for each axis are processed each time the
Synchronization Output register is changed.
When a Sensor DI/O module is installed, an additional two outputs words are reserved but are
currently unused.