Applied Motion RS-232 - Manual (Page 292)

292 920-0002 Rev. I
2/2013
Host Command Reference
Type 2 Message Format
Message Type 2 commands provide functionality that is not available with Type 1 commands. This is the only
way to read back information from the drive. All Type 2 commands require and 8 bit opcode and an 8 bit operand.
Return values include a 16 or 32 bit response, as appropriate.
The response message will always echo back the opcode and operand from the command message.
Also contained in the response message is the drive’s status code, unless other information is requested (e.g.
parameter read command). The status code is a bit pattern that indicates useful information such as whether
there is a fault or if the motor is in motion. For more information, please see the section on the SC command
earlier in this manual.
Command Message Format:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
B0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0
B1 Command Axis Number = 0x0 Command Message Type = 0x2
B2 Opcode (see Table 2)
B3 Operand (see Table 2)
B4 Data MSB
B5 Data LSB [Data 2nd MSB for opcode 0x9E]
B6 Unused = 0 [Data 2nd LSB for opcode 0x9E]
B7 Unused = 0 [Data LSB for opcode 0x9E]
Response Message Format:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
B0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0
B1 Response Axis Number = 0x0 Response Message Type = 0x2
B2 Opcode (see Table 2)
B3 Operand (see Table 2)
B4 Status MSB [Data MSB for opcodes 0x84, 0x88, 0x89, 0x9F]
B5 Status LSB [Data LSB for opcodes 0x84, 0x88, 0x89] [Data 2nd MSB for opcode 0x9F]
B6 Unused = 0 [Data 2nd LSB for opcode 0x9F]
B7 Unused = 0 [Data LSB for opcode 0x9F]