Delta RMC101 - Manual (Page 726)

RMC100 and RMCWin User Manual
A-74
O+3 0000|0000|1001|0001 (0091)
Requests Scale for axis 1
+4 XXXX|XXXX|XXXX|XXXX (XXXX)
Ignored
After the Synchronization Output register is incremented, the RMC will process the commands
and update the Synchronization Input register to match. At this time, the input registers would
hold the following values:
I+1 XXXX|XXXX|XXXX|XXXX (XXXX)
Status of axis 0
+2 XXXX|XXXX|XXXX|XXXX (XXXX)
Scale of axis 0
I+3 XXXX|XXXX|XXXX|XXXX (XXXX)
Status of axis 1
+4 XXXX|XXXX|XXXX|XXXX (XXXX)
Scale of axis 1
Example for Digital I/O:
Suppose you would like to get the Scale from axis 0. You would send the following command:
Send on Command Strobe going high:
0000|0000|1001|0001 (0091)
Get Scale for axis 0
Receive after Acknowledge:
1111|1111 (FF)
Low byte of Scale
Send on Command Strobe going high:
XXXX|XXXX|XXXX|XXXX (XXXX)
Unused
Receive after Acknowledge:
0111|1111 (7F)
High byte of Scale
A.3.11 Get Profile Commands
Format: 0AAA 0000 1010 NNNN
N Used for Command Index described below
A Used only by Communication Digital I/O; 0 for PROFIBUS-DP
These commands allow the programmer to retrieve the RMC’s stored motion profiles. Only one
value in one profile can be read per axis each time the synchronization register is changed
The format of the Command Register for the Get Profile commands is given below:
Note: The Status Area Request area (bits 8-11) of the command and the command data are
ignored.
1111|11 | |
BIT# 5432|1098|7654|3210