Delta RMC151 - Manual (Page 525)

6 Communication
Using the Data Blocks
Issue a Single Command
To issue a command, set up the contents of the first six registers of the Command Block,
and when complete, toggle the Command Request bit in the first Command Block
register.
Notice that commands with more than 5 command parameters cannot be issued via
PROFIBUS. To issue such commands, include them in a user program and issue a
command via PROFIBUS to start the user program.
To issue a single command to the RMC70, use the following steps:
1. Wait until the Command Request bit in the Command Register (0) of the Command
Block is equal to the Command Acknowledge bit in register 0 of the Response
Block. If they are not equal, the RMC is currently processing a command request.
2. Enter the command number in bits 0-7 of the Command Register (0) of the Command
Block.
3. If the command has any parameters, put them in registers 1-5 of the Command Block.
4. Clear the Deferred Command bits.
5. Set the desired Axis Select bit in the Command Register. The command will be sent
simultaneously to each axis you select.
Note:
Using this method, you can send a single command to multiple axes simultaneously.
You cannot send different commands to multiple axes simultaneously. To send
different commands to multiple axes simultaneously, see the Issue Simultaneous
Commands section below.
6. Toggle the Command Request bit.
7. Wait until the Command Request bit is equal to the Command Acknowledge
bit. When they are equal, the RMC70 has received the command.
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