Format: 0000 XXXX 1111 XXXX
X Don’t care.
These commands are for testing the RMC under safe conditions. The behavior depends on whether PROFIBUS-DP or Communication Digital I/O is used.
For PROFIBUS-DP, both command and command data are echoed in the status and data in registers for the axis.
For Communication Digital I/O, the low byte of the command is returned on the acknowledge of the command, and the low byte of the command data is returned on the acknowledge of the command data.
Example for PROFIBUS-DP in Compact Mode with Sync:
If you sent out the following data in the Output registers:
CMND (HEX)
O+1 0000|0011|1111|0101 (03F5) Diagnostic command
+2 0001|0010|0100|1000 (1248) Diagnostic data
O+3 0000|1100|1111|1010 (0CFA) Diagnostic command
+4 1000|0100|0010|0001 (8421) Diagnostic data
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 0000|0011|1111|0101 (03F5) Same as Output
+2 0001|0010|0100|1000 (1248) Same as Output
I+3 0000|1100|1111|1010 (0CFA) Same as Output
+4 1000|0100|0010|0001 (8421) Same as Output
Example for Digital I/O:
Suppose you want to test using the Digital I/O for sending data. You must send a 0x00F0 to trigger the diagnostic command, and you can then send any data the second scan. The following sequence is one possible way this would take place:
Send on Command Strobe going high:
0000|0000|1111|0000 (00F0) Diagnostic command
Receive after Acknowledge:
1111|0000 (F0) Low byte of diagnostic command
Send on Command Strobe going high:
0000|0000|0000|1111 (000F) Diagnostic data
Receive after Acknowledge:
0000|1111 (0F) Low byte of diagnostic data
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