Delta RMC101 - Manual (Page 710)

RMC100 and RMCWin User Manual
A-58
After the command value is acknowledged, the Auto Stop Error bits are returned on the following
digital outputs:
Output Represents…
0
1
2
3
4
5
6
7
Axis 0 Auto Stop Error
Axis 1 Auto Stop Error
Axis 2* Auto Stop Error
Axis 3* Auto Stop Error
Axis 4* Auto Stop Error
Axis 5* Auto Stop Error
Axis 6* Auto Stop Error
Axis 7* Auto Stop Error
* This bit is always zero if the axis is not available.
X (Don’t Care) Bits:
These bits are ignored.
A.3.2 Command Words for PROFIBUS-DP Compact Mode
This topic applies to the RMC PROFIBUS module when Compact Mode is used; see Using the
PROFIBUS-DP Compact Mode for details. For details on using Message Mode, see Using the
PROFIBUS-DP Message Mode.
As described in Output Register Overview, each axis has one command register and one data
out register. The use of the data out register depends on the command being selected.
The command register is divided into four nibbles (one nibble is four bits or a half byte). There are
two formats used: Standard and Expanded. In the Standard format, the most significant nibble
(MSN) is binary 0000 (hex 0), the next MSN is most often the Status Area Request (SAR)
(described in Input Register Overview), the next MSN is the command type, and the use of the
LSN is usually defined by the command itself. The following chart demonstrates the breakdown of
the command word:
In the Expanded format, the MSN is never 0000 (hex 0) and describes the command type. The
rest of the bits are defined by the command itself, as shown in the chart below: