IAI America MSCON - Manual (Page 136)

3.4 Fieldbus
Type
Address Map
128
3.4.11 About Commands (Position Data Read/Write and Alarm Axis Read)
By sending a specific code to a specific address, the position data reading and writing, and the
reading of the axis number that an alarm was issued and the alarm code can be performed.
Caution: • The command cannot be used in MECHATROLINK.
• It is not necessary to use commands in Simple Indication Mode because no
position data is to be used in it.

Shown below is the table to indicate the assignment of each signal.
(1) PLC Address Composition
(n is PLC input and output top address.)
PLCĺMSCON (PLC Output) MSCONĺPLC (PLC Input)
Demand Command n+2 Response Command n+2
Data 0 n+3 Data 0 n+3
Data 1 n+4 Data 1 n+4
Data 2 n+5 Data 2 n+5
Data 3 n+6 Data 3 n+6
[Refer to Section 3.4.2 for the address maps for each Fieldbus.]
(2) Demand Command List
Class Code Description
Handshaking 0000
H
Demand command cleared
Write Position Data 1000
H
Writing of target position
1001
H
Writing of pressing width
1002
H
Writing of speed
1003
H
1004
H
Unavaillable
1005
H
Writing of acceleration
1006
H
Writing of deceleration
1007
H
Writing current limit at pressing
1008
H
Unavaillable
Read Position Data 1040
H
Reading of target position
1041
H
Reading of pressing width
1042
H
Reading of speed
1043
H
1044
H
Unavaillable
1045
H
Reading of acceleration
1046
H
Reading of deceleration
1047
H
Reading of current limit at pressing
1048
H
Unavaillable
Error Information Monitoring 4000
H
Acquiring alarm-issued axis
4001
H
Acquiring alarm code