Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 312)

290 Introduction • Reserved Host Commands
Publication 1398-PM601A-EN-P — October 2000
HOST
M
O
D
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Reserved Host Commands
The following host commands are part of IQ Cam. Refer to the IQ-Series IQ-Cam Software Manual
(Part Number 0013-1053-001) for a complete description.
Implementation
Incoming commands and outgoing responses execute through interrupt driven circular buffers. A com-
mand is parsed and executed when a carriage return is received. Since the Host Command Language is
the only interface available to the ULTRA Plus or IQ, the use of an ASCII command set allows it to be
used not only by a smart host, but also as a simple control method in a dumb terminal environment.
Some control characters remain available and are used to carry out XON/XOFF handshaking, axis
selection (when multiple ULTRA Plus or IQ units are on a single serial line), backspace, and ACK/
NACK.
The command parser and executor run as a background task of the ULTRA Plus or IQ. The ULTRA
Plus or IQ interfaces to the host only through internally defined flags and variables, as necessary, for
control purposes. It is a passive interface in that it only responds to commands and never initiates trans-
missions. The ULTRA Plus or IQ can initiate transmissions with a program PRINT statement.
When nonvolatile memory data is changed, the ULTRA Plus or IQ updates the checksum information
contained in the personality module. The update happens automatically after the data has been changed;
no further host action is required.
Addressing
An ULTRA Plus or IQ is normally configured to address zero for single axis communication. When set
to address zero, the ULTRA Plus or IQ will respond to all commands. When multiple ULTRA Plus or
IQ units are connected on a single serial link in either RS-232C daisy chain or RS-422 multi-drop con-
figuration, only one ULTRA Plus or IQ should transmit at a time. To accomplish this, each ULTRA Plus
or IQ is set to a different address and a special character sequence is transmitted to activate an individual
ULTRA Plus or IQ.
Each drive must have a unique address (1-63) set using dip switch SW1. Refer to “Networking IQ-
CAM CAMAUTOSYNC CAMEN CAMERROR
CAMEXTPOSSELECT CAMINPOSNACCEL CAMQUEUEFULL CAMSTARTACCEL
CAMSTOPDECEL CAMSTOPTIMEDECEL CAMSYNCED CAMSYNCEDPOSLIMIT
CAMSYNCEDTIME CAMSYNCMAXVEL CAMTIMEBASE CGENEN
CJOGEN CPOS CURONESHOTDEF CURPLSDEF
CURPROFILEDEF CURTIMELOCKEDDEF CYCLESPENDING CYCLESPERTRIGGER
DISCONTINUOUSCOUNTS DISCONTINUOUSPROFILE FCYCLEPOS GLOBALPFDISP
GLOBALMCYCLE INHIBITCORRECTIONS INHIBITPROFILE MCYCLE
MCYCLEPOS MCYCLETIME NEGSYNCDIR OFFSETALWAYS
ONESHOTWAITING PFDISP PLSEN PROFILEACTIVE
PROFILECOMPLETE PROFILECOUNT PROFILENUM RELSYNC
ROTF ROTM SHORTESTDIST STARTSYNCMODE
STOPSYNCMODE SYNCOFFSETPOS SYNCOFFSETTIME VELLOCKPOSERROR
VLAUTOCORRECT VLAUTOCORRECTVEL VLCORRECTIONCMPLT