Delta RMC101 - Manual (Page 509)

Serial (RS-232/422/485) 5.5
Communications 5-259
Dxx02 Data. First data word to write.
Dxx03 Data. Second data word to write.
…
Dxx01+N Data. Last data word to write.
Dxx02+N Checksum. Set using the CCD instruction. Notice that Dxx03+N will also be
modified by CCD with the parity, but this register should not be sent.
Response (from RMC):
Dyy00 Length. Will match the request's length.
Dyy01 Address. Will match the request's address.
Dyy02 Checksum. Validate with the CCD instruction.
Halt RMC
This function will send Disable Drive (K) commands to all axes in the RMC.
Request (to RMC):
Dxx00 Length. A length of zero indicates to the RMC to halt all axes with Disable Drive (K)
commands.
Response (from RMC):
Dyy00 Length. This will be zero to indicate an error response.
Dyy01 Error Number. This indicates that this error response was requested by the user. See
Errors at the bottom of this topic for a list of other error responses.
Dyy02 Checksum. Validate with the CCD instruction.
Example RS Instructions:
These examples assume the send buffer is at D100 and the receive buffer is at D200.
To read status for 8 axes or 80 words:
The lengths (K6 and K166) are in bytes. Remember to add the length, address and checksum to the
length of the data. Therefore the send length of six bytes comes from the length, address, and
checksum at two bytes each, and the receive length comes from 80 words (160 bytes) plus six bytes