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APP - 18
A
PPENDICES
(2) Command list
When the PERIPHERAL I/F of the Motion controller communicates using the MC
protocol, commands listed in table below can be executed.
Status of Motion controller
RUN
Function
Command
(Subcommand)
(Note-1)
Description
Number of
processed points
STOP
Write
enabled
Write
disabled
In units
of bits
0401
(0001)
Reads bit devices in units of one point.
ASCII : 3584 points
BIN : 7168 points
Reads bit devices in units of 16 points.
960 words
(15360 points)
Batch read
In units
of words
0401
(0000)
Reads word devices in units of one point. 960 points
In units
of bits
1401
(0001)
Writes bit devices in units of one point.
ASCII : 3584 points
BIN : 7168 points
Writes bit devices in units of 16 points.
960 words
(15360 points)
Batch write
In units
of words
1401
(0000)
Writes word devices in units of one point. 960 points
Reads bit devices in units of 16 or 32 points
by randomly specifying a device or device
number.
Random read
(Note-2)
In units
of words
0403
(0000)
Reads word devices in units of one or two
points by randomly specifying a device or
device number.
192 points
In units
of bits
1402
(0001)
Sets/resets bit devices in units of one point by
randomly specifying a device or device
number.
188 points
Sets/resets bit devices in units of 16 or 32
points by randomly specifying a device or
device number.
Test
(Random write)
In units
of words
(Note-2)
1402
(0000)
Writes word devices in units of one or two
points by randomly specifying a device or
device number.
(Note-5)
Registers bit devices to be monitored in units
of 16 or 32 points.
Monitor
registration
(Note-2), (Note-3),
(Note-4)
In units
of words
0801
(0000)
Registers word devices to be monitored in
units of one or two points.
192 points
Device
memory
Monitor
In units
of words
0802
(0000)
Monitors devices registered.
Number of
registered points
: Available, : Not available
(Note-1): Subcommand is for the QnA-compatible 3E frame.
(Note-2): Devices such as TS, TC, SS, SC, CS, and CC cannot be specified in units of words.
For the monitor registration, an error (4032H) occurs during the monitor operation.
(Note-3): During monitor registration, monitor condition cannot be set.
(Note-4): Do not execute monitor registration from multiple external devices. If executed, the last monitor registration becomes valid.
(Note-5): Set the number of processed points so that the following condition is satisfied.
(Number of word access points)
12 + (Number of double-word access points) 14 1920
• Bit devices are regarded as 16 bits during word access and 32 bits during double-word access.
• Word devices are regarded as one word during word access and two words during double-word access.