Format: 0AAA RRRR 0001 NNNN
R Used for Status Area Request
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 download new initialization parameters to the RMC. New parameters can be downloaded at any time, but they do not take effect until a 'P' ASCII command is issued. An axis must be stopped when issuing the 'P' ASCII command.
The format of the Command Register for the Set Parameter commands is given below:
1111|11 | |
BIT# 5432|1098|7654|3210
-------------------
HEX |SAR |CMND|INDX
VALUE-------------------
0X10 0AAA|XXXX|0001|0000 Set CONFIGURATION
0X11 0AAA|XXXX|0001|0001 Set SCALE
0X12 0AAA|XXXX|0001|0010 Set OFFSET
0X13 0AAA|XXXX|0001|0011 Set EXTEND LIMIT
0X14 0AAA|XXXX|0001|0100 Set RETRACT LIMIT
0X15 0AAA|XXXX|0001|0101 Set PROPORTIONAL GAIN
0X16 0AAA|XXXX|0001|0110 Set INTEGRAL GAIN
0X17 0AAA|XXXX|0001|0111 Set DIFFERENTIAL GAIN
0X18 0AAA|XXXX|0001|1000 Set EXTEND FEED FORWARD
0X19 0AAA|XXXX|0001|1001 Set RETRACT FEED FORWARD
0X1A 0AAA|XXXX|0001|1010 Set EXTEND ACCEL FEED FORWARD
0X1B 0AAA|XXXX|0001|1011 Set RETRACT ACCEL FEED FORWARD
0X1C 0AAA|XXXX|0001|1100 Set DEAD BAND ELIMINATOR
0X1D 0AAA|XXXX|0001|1101 Set IN POSITION
0X1E 0AAA|XXXX|0001|1110 Set FOLLOWING ERROR
0X1F 0AAA|XXXX|0001|1111 Set AUTO STOP
The command data represents the new parameter value.
Example for PROFIBUS-DP in Compact Mode with Sync:
Suppose you have an RMC100-M1-PROFI, and you would like to set the Extend Limit for both axes. You would send commands with the following format:
SAR CMND INDX (HEX)
O+1 0000|XXXX|0001|0011 (0X13) Sets axis 0 Extend Limit
+2 24000 (5DC0) New Extend Limit value
O+3 0000|XXXX|0001|0011 (0X13) Sets axis 1 Extend Limit
+4 12000 (2EE0) New Extend Limit value
Example for Digital I/O:
Suppose you would like to set the Extend Limit for axis 0. You would send commands with the following format:
Send on Command Strobe going high:
0000|XXXX|0001|0011 (0X13) Set axis 0 Extend Limit
Receive after Acknowledge:
XXXX|XXXX (XX) Low byte of requested data
Send on Command Strobe going high:
0101|1101|1100|0000 (5DC0) New Extend Limit value
Receive after Acknowledge:
XXXX|XXXX (XX) High byte of requested data
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