Applied Motion RS-232 - Manual (Page 308)

308 920-0002 Rev. I
2/2013
Host Command Reference
EtherNet/IP And Q Programs
To provide additional functionality and autonomy, Q programs can be stored in EtherNet/IP drives. These
programs can be started and stopped “on demand” using explicit messaging. The Q Programmer application is
used to compose, download and test Q programs. Please avoid sending EtherNet/IP messages to the drive while
the Q Programmer software is running.
To start a Q program from an EtherNet/IP message, you must send a Type 1 message with opcode 0x78
(the QX command). You’ll need to specifiy the Q segment number, as shown in the example. This allows you to
store up to 12 Q segments, or subprograms, and operate them independently. Q segments can also call each
other once one has been started.
Example: Starting Q Segment 1
QX1 start Q segment 1
opcode 0x0078 from Table 1
operand 0x1 segment 1 (up to 12 segments are allowed in a Q program)
Type 2 Command Message Payload Type 2 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 2 message type byte 1 2 message type
byte 2 78 opcode byte 2 78 opcode
byte 3 1 operand byte 3 1 operand
byte 4 0 unused byte 4 ? Status Code MSB
byte 5 0 unused byte 5 ? Status Code LSB
byte 6 0 unused byte 6 0 not used
byte 7 1 segment number byte 7 0 not used
Once a Q segment has begun, Type 1 messages are no longer permitted, because the CPU is busy
executing the commands in the Q segment. To stop a Q program, you must use a Type 2 “SK” message (opcode
98, as shown in the next example). Q programs also stop running if they encounter a blank line in the segment.
This makes it possible to launch a segment, have it complete a task, and stop by itself.
Example: Stopping a Q Program
SK stop the Q program
opcode 0x98 from Table 2
operand decel rate (0 = use quick decel rate from AM, 1 = use normal decel rate from DE or JL)
Type 2 Command Message Payload Type 2 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 2 message type byte 1 2 message type
byte 2 98 opcode byte 2 98 opcode
byte 3 0 operand byte 3 0 operand
byte 4 0 not used byte 4 ? status code MSB
byte 5 0 not used byte 5 ? status code LSB
byte 6 0 not used byte 6 0 not used
byte 7 0 not used byte 7 0 not used