Get Parameter Commands

Format: 0AAA 0000 1001 NNNN

N Used for Command Index described below

A Used only by Communication Digital I/O; 0 for PROFIBUS-DP

These commands allow the Programmable Controller to read the current state of the RMC initialization parameters. The requested parameter will be returned in the same way that Status Area Request data is returned. Therefore, bits 8-11 are not used.

The format of the Command Register for the Get Parameter commands is given below:

Note: The Status Area Request area (bits 8-11) of the command and the entire command data are ignored.

1111|11 | |

BIT# 5432|1098|7654|3210

-------------------

HEX | |CMND|INDX

VALUE -------------------

0X90 0AAA|XXXX|1001|0000 Get CONFIGURATION

0X91 0AAA|XXXX|1001|0001 Get SCALE

0X92 0AAA|XXXX|1001|0010 Get OFFSET

0X93 0AAA|XXXX|1001|0011 Get EXTEND LIMIT

0X94 0AAA|XXXX|1001|0100 Get RETRACT LIMIT

0X95 0AAA|XXXX|1001|0101 Get PROPORTIONAL GAIN

0X96 0AAA|XXXX|1001|0110 Get INTEGRAL GAIN

0X97 0AAA|XXXX|1001|0111 Get DIFFERENTIAL GAIN

0X98 0AAA|XXXX|1001|1000 Get EXTEND FEED FORWARD

0X99 0AAA|XXXX|1001|1001 Get RETRACT FEED FORWARD

0X9A 0AAA|XXXX|1001|1010 Get EXTEND ACCEL FEED FORWARD

0X9B 0AAA|XXXX|1001|1011 Get RETRACT ACCEL FEED FORWARD

0X9C 0AAA|XXXX|1001|1100 Get DEAD BAND ELIMINATOR

0X9D 0AAA|XXXX|1001|1101 Get IN POSITION

0X9E 0AAA|XXXX|1001|1110 Get FOLLOWING ERROR

0X9F 0AAA|XXXX|1001|1111 Get AUTO STOP

The data returned where the Status Area Request data would be returned is the requested parameter.

Example for PROFIBUS-DP in Compact Mode with Sync:

Suppose you have an RMC100-M1-PROFI, and you would like to get the Scale from both axes. You would send commands with the following format:

CMND INDX (HEX)

O+1 0000|0000|1001|0001 (0091) Requests Scale for axis 0

+2 XXXX|XXXX|XXXX|XXXX (XXXX) Ignored

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