Retrieve detailed channel status (2002), Example command block, Word 7) channel command number – FANUC Robotics America GFK-1541B User Manual

Page 96

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GFK-1541B

Chapter 3 Programming Channel Commands

3-29

3

Retrieve Detailed Channel Status (2002)

The Retrieve Detailed Channel Status command requests that the current Detailed Channel Status
words be returned for a channel. The Detailed Channel Status words contain an active/inactive
channel indicator and the last channel error codes seen. These two words of detailed status
supplement the information available in the COMMREQ Status word and the Channel Status bits.
The command has no effect on the value of the Channel Status bits.

Be aware that the Detailed Channel Status words are updated every time the status of the channel
changes. If, for example, the channel is operating with a fast repetition period, the status words
may change faster than the ladder executes the COMMREQ to retrieve them. Therefore, some
status values might be missed from the ladder’s point of view.

Example Command Block

Retrieve detailed channel status for Channel 5. Store the Detailed Channel Status words to
Registers %R100–%R101. Return the COMMREQ Status word to %R10.

Dec (Hex)

Word 1

00004 (0004)

Length of Channel command Data Block (4 words)

Word 2

00000 (0000)

Always 0 (no-wait mode request)

Word 3

00008 (0008)

Memory Type of CRS word (%R)

Word 4

00009 (0009)

CRS word address minus 1 (%R10)*

Word 5

00000 (0000)

Reserved

Word 6

00000 (0000)

Reserved

Word 7

02002 (07D2)

Retrieve Detailed Channel Status Command number

Word 8

00005 (0005)

Channel number 5

Word 9

00008 (0008)

Local PLC - Memory type to store Detailed Chan. Stat. (%R)

Word 10

00100 (0064)

Local PLC - Starting address (%R100)

* Word 4 (CRS word address) is the only zero-based address in the Command Block. Only this

value requires subtracting 1 from the intended address.

(Word 7) Channel Command Number:

The command parameter in Word 7 requests that

Detailed Channel Status words be returned. If the command is processed successfully, the
Detailed Channel Status words will be written to the location specified in Words 9 and 10. Then
the CRS word will indicate successful completion of the command. If the specified channel is not
currently in use, the latest status will be returned.

The term local PLC is
used here to identify the
client PLC—the PLC
that initiates the
communications
request.

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