Rockwell Automation 2071-Axx Kinetix 3 Component Servo Drive Serial Host Command Reference Manual - Manual (Page 38)

38 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Chapter 3 General Commands (ASCII)
Variable Roll Monitoring (MOR)
Figure 2 - Variable Roll Monitoring (MOR) Command String Example
Attribute Value
Command MOR
Description Set up variable roll monitor
Format
Data STX ID # MOR SP P1 P2 : BSS ETX
Argument Description
SP Sampling period range 0x01…0x64 (01…100 ms)
P1, P2 Variables to monitor. Range 0x00…0x1D
Usage Note Sets up the variable roll monitoring. This command is sent to the drive prior to sending a
Monitor Variable (MDM) command. See Figure 2 for command examples.
Response ACK
Next Command STX ID # MOR : BSS ETX
Usage Note Request to store data in the linear buffer (with a capacity of 100 data points). If the buffer
is full and data has not been retrieved, the buffer is emptied. If data is requested before
data is in the buffer, the drive sends ACK.
Response Format STX ID $ MOR V1&V2&…Vn : BSS ETX
Response Data Argument Description
V1…Vn Signed integer of variable length
Next Command STX ID #ESC : BSS ETX
Usage Note Send ESC to stop monitoring of the data.
Response ACK
#MOR (setting)
ACK
#MOR
$MOR
#MOR
$MOR
#ESC
ACK
PC Servo
Time <200 ms
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