Delta RMC151 - Manual (Page 533)

6 Communication
14 Float* Explicit Read Data 5
15 Float* Explicit Read Data 6
*These registers are typically REAL data type (floating point), but in some cases may be
DINT or DWORD integers, such as variables declared as such.
Consistent and Non-Consistent Registers
Registers 0-7 of the Response Block are consistent. That is, they are all updated at the
same time. These registers are suitable for tight synchronization with the commands,
read/write requests, or each other.
Registers 8-15 of the Response block are non-consistent. That is, each register is not
guaranteed to be updated at the same time as the other registers in the block, nor at the
same time as the registers in the first Response Block. They are updated at the same rate
as the first Response block, but each register's update may differ slightly.
Because they are non-consistent, registers 8-15 should not be used for tight
synchronization. The following registers should not be placed in Indirect Data Map
registers 8 to 15 so that they will not be in registers 8-15 of the Response Block:
• Read Response register
• Status and Error bits, because these bits are often checked immediately after a
command is issued.
Configuring the Data
Setting up the Indirect Data Map
The Response Block continuously returns the values from the RMC70 Indirect Data
registers 0-7. These registers, in turn, can be mapped to any registers in the RMC70.
Thereby, the values from the selected registers in the RMC70 can be read from and
written to by writing to and reading from the Indirect Data registers.
To set up the Indirect Data Map:
1. Open the Indirect Data Map Editor.
2. In the Register column of the first Indirect Data Map entry, type "%MD8.0" and press
Enter. This will map Axis 0 Status Bits register to the first item in the Indirect Data
Map. Basic mode requires that the first item in the Indirect Data Map contains the Axis
0 Status Bits register.
3. For each of the remaining Indirect Data Map entries 1-7, enter the desired register to
map to each. To do this, click the cell in the Register column, click the ellipsis button
( ), then browse to the desired register.
4. If you wish to add additional read capability, one of the Indirect Data Map registers
should be mapped to the Read Response register. Then, the corresponding register in
the Response Block will return the value of a read from any single register in the
RMC70 at any time. See Read any Single RMC70 Register below. Notice that this is
probably unnecessary because this mode already enables you to read from seven
contiguous registers. See Read any Contiguous RMC70 Registers below.
Example
Requirements
The user would like to read the following registers:
• Axis 0 Status Bits
• Axis 0 Actual Position
• Axis 1 Status Bits
• Axis 1 Actual Position
• Task 0 Current Step
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