Delta RMC151 - Manual (Page 521)

6 Communication
The Basic+ mode uses two fixed-length blocks of data: the Command Block and the
Response Block.
Command Block
The Command block is a block of 8 contiguous 32-bit output registers. These registers are
sent from the PLC or PC to the RMC.
The Command Block has the following structure:
Register
Number Data
Type
Description
Command Area:
Registers 0 - 5 are used for issuing commands to the RMC70. See
Issue a Single Command and Issue Simultaneous Commands
below for details on using these registers.
0 Integer Command Register
Bit Bit Description
31 Command Request
30 Deferred Command
29 Deferred Command
20-28 Reserved
19
Axis 3 Select
18 Axis 2 Select
17 Axis 1 Select
16 Axis 0 Select
8-15 Reserved
7-0 Command Number
1 Float Command Parameter 1
2 Float Command Parameter 2
3 Float Command Parameter 3
4 Float Command Parameter 4
5 Float Command Parameter 5
Data Channel 0:
Registers 6 and 7 are used for reading and writing to any register in
the RMC70. See Read from the RMC70 and Write to the RMC70
for details on using these registers.
6 Integer Read/Write Register
Bit Bit Description
31 Read/Write
30 Read/Write Request
16-29 Reserved
15-8
R/W Address File
7-0 R/W Address Element
deltamotion.com 501