Delta RMC101 - Manual (Page 728)

RMC100 and RMCWin User Manual
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The data returned where the Status Area Request data would be returned is the requested profile
field.
Example for PROFIBUS-DP in Compact Mode with Sync:
We wish to get profiles 2 and 7 into the RMC. Looking at the chart above, we can see that we
issue Get Profile commands to axis 0 to get profile 2 and we use axis 1 Get Profile commands to
get profile 7. Therefore, we can do both at the same time. Suppose that the RMC had the
following values for profiles 2 and 7:
PROFILE
2 PROFILE
7
MODE 0x0001 0x0001
ACCEL 100 150
DECEL 70 70
SPEED 12000 20000
This would take at least five scans because we can get one word of each profile on each axis per
scan:
First scan:
O+1 00A8h
(Get
profile 2
MODE)
O+2 XXXXh (Unused)
O+3 00ACh
(Get
profile 7
MODE)
O+4 XXXXh
(Value of
profile 7
MODE)
Second scan:
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 XXXXh
(Axis 0
STATUS)
I+2 0001h
(Profile 2
MODE)