Delta RMC151 - Manual (Page 530)

RMC70/150 and RMCTools User Manual
• Seven (7) contiguous registers in the RMC70 can be explicitly written or read.
See Read Any Contiguous RMC70 Registers and Write to Any Contiguous
RMC70 Registers below.
• Commands can be issued to any number of axes simultaneously.
See Command Block, Issue a Single Command, and Issue Simultaneous
Commands below.
• PROFIBUS bandwidth used: 2 blocks each of 16 consistent I/O words (16 bits each).
RMC70 Register Addresses for PROFIBUS
When communicating over PROFIBUS, the RMC70 registers addresses use the same
file:element addresses as the RMC70 IEC-61131 addresses.
For example, to read the Axis 0 Actual Position via PROFIBUS, notice that its address is
%MD8.8. Therefore, the address via PROFIBUS is file 8, element 8.
Parameterization
Enhanced mode requires the PROFIBUS configuration and parameterization listed below.
The GSD file does direct the PROFIBUS master setup software to automatically set up
these values, but Delta has found several cases where it is not supported correctly or
manual setup is otherwise required.
Configuration: FF FF
Parameters:
Prm_Data (bytes 1-7): See the PROFIBUS DP specification for details.
User_Prm_Data (bytes 8-14): 00 00 00 xx* 01 08 08
* The xx parameter can be 00 or 01 and selects whether the least-significant word
comes first (00) or most-significant word comes first (01).
Data Blocks
The Enhanced mode uses two fixed-length blocks of data: the Command Block and the
Response Block.
Command Block
The Command block is a block of 16 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
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