Delta RMC101 - Manual (Page 5)

DMCP User Guide Page 5 of 9 October 23, 2001
10 Read Device Registers (little Endian)
Description
This block reads from the device’s registers. These registers are in a flat address space
ranging from 0 to 65,535. On the RMC, these registers have pre-defined uses.
Therefore, you must refer to the RMC Register Map in the RMCWin online help to read
the data you wish.
Request
The request uses this format:
10 Address WordCnt 00 0A 00 00 SeqNum Ver
Address The register address to begin reading from.
WordCnt The number of registers to read (1-2048 in TCP, 1-512 in UDP).
Response
The success response follows this format:
WC*2+6 90 00 Data
0
Data
1
Data
n-1
00 SeqNum Ver
Data
0
-Data
n-1
The data read from the address requested.
Example
The Command Position, Target Position, Actual Position, Counts, and Status Word for
axis 1 are located at register addresses 10-14. If a user wants to read these five registers,
the following packet would be sent to the RMC:
10 0A 0A 00 00 05 00 00 00 12 31 02
If these fields have the values 4000 (0x0FA0), 4000 (0x0FA0), 4001 (0x0FA1), 4247
(0x1097), and 0x0043, the response would be the following:
90 00 10 00 A0 0F A0 0F A1 0F
97 10 43 00
00 12 31 02