Format: 0AAA RRRR 1101 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
Note: This topic describes issuing the Set Parameter On-the-fly commands through PROFIBUS-DP’s Compact Mode or Communication DI/O’s Command Mode. For a discussion on these commands issued any other way (e.g. from RMCWin, the Event Step table, Ethernet, Modbus Plus), see Set Parameter On-the-Fly.
The format of the Command Register for the Set Parameters On-the-fly commands is given below:
1111|11 | |
BIT# 5432|1098|7654|3210
-------------------
HEX | |CMND|INDX
VALUE-------------------
0xD0 0000|XXXX|1101|0000 SET CONFIG WORD ON-THE-FLY
0xD1 0000|XXXX|1101|0001 RESERVED
0xD2 0000|XXXX|1101|0010 RESERVED
0xD3 0000|XXXX|1101|0011 RESERVED
0xD4 0000|XXXX|1101|0100 RESERVED
0xD5 0000|XXXX|1101|0101 SET PROPORTIONAL GAIN ON-THE-FLY
0xD6 0000|XXXX|1101|0110 SET INTEGRAL GAIN ON-THE-FLY
0xD7 0000|XXXX|1101|0111 SET DIFFERENTIAL GAIN ON-THE-FLY
0xD8 0000|XXXX|1101|1000 SET EXTEND FEED FORWARD ON-THE-FLY
0xD9 0000|XXXX|1101|1001 SET RETRACT FEED FORWARD ON-THE-FLY
0xDA 0000|XXXX|1101|1010 SET EXTEND ACC FEED FORWARD ON-THE-FLY
0xDB 0000|XXXX|1101|1011 SET RETRACT ACC FEED FORWARD ON-THE-FLY
0xDC 0000|XXXX|1101|1100 SET DEAD BAND ELIMINATOR ON-THE-FLY
0xDD 0000|XXXX|1101|1101 SET IN POSITION WINDOW ON-THE-FLY
0xDE 0000|XXXX|1101|1110 SET FOLLOWING ERROR WINDOW ON-THE-FLY
0xDF 0000|XXXX|1101|1111 SET AUTO STOP ERROR MASK ON-THE-FLY
The command data represents the new parameter value.
If these commands are issued to a pressure control axis, then the parameters above are replaced by the pressure-axis equivalents.
You will notice that the Scale, Offset, Extend Limit, and Retract Limit cannot be changed on the fly. They can be changed by stopping the axis, changing the value, and issuing a Set Parameters (P) command.
Warning: Changing any of the gains or feed forwards while the axis is moving will generate a drive discontinuity in most cases.
Example for PROFIBUS-DP in Compact Mode with Sync:
Suppose you have an RMC100-M1-PROFI, and you would like to set the Proportional Gain for both axes. You would send commands with the following format:
SAR CMND INDX (HEX)
O+1 0000|XXXX|1101|0101 (0XD5) Sets axis 0 Proportional Gain
+2 150 (0096) New Proportional Gain value
O+3 0000|XXXX|1101|0101 (0XD5) Sets axis 1 Proportional Gain
+4 175 (00AF) New Proportional Gain value
Example for Digital I/O:
Suppose you would like to set the Extend Limit for axis 1. You would send commands with the following format:
Send on Command Strobe going high:
0001|XXXX|1101|0101 (1XD5) Set axis 0 Proportional Gain
Receive after Acknowledge:
XXXX|XXXX (XX) Low byte of requested data
Send on Command Strobe going high:
0000|0000|1001|0110 (0096) New Proportional Gain value
Receive after Acknowledge:
XXXX|XXXX (XX) High byte of requested data
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