Yaskawa LEGEND-MC - Manual (Page 215)

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LEGEND-MC User’s Manual
SA (Send Command)
[General]
DESCRIPTION:
SA sends a command from the master to the slave controller of a distributed control system. Any command
can be sent to a slave controller and will be interpreted by the slave as a “local” command. Some
commands are only “local” commands and must be sent with the SA command. Refer to the discussion of
local vs. global commands in this manual. Yaskawa recommends using a TCP handle when sending the SA
command.
When using this command to access I/O on a slave controller in distributed control mode, use it with the
handle for outbound master commands. Do not use the handle which is for incoming slave update packets.
For example, if a slave is connected on handles E and F, reference the I/O for the slave on handle E.
ARGUMENTS: SAh=arg or SAh= arg, arg, arg, arg, arg, arg, arg, arg where
h is the handle being used to send commands to the slave controller.
arg is a number, controller operand, variable, mathematical function, or string; the range for numeric
values is 4 bytes of integer (2 31 ) followed by two bytes of fraction (+/- 2,147,483,647.9999). The
maximum number of characters for a string is 6. Strings are identified by quotations.
Typical usage would have the first argument as a string such as “KI” and the subsequent arguments as the
arguments to the command: Example SAF= “KI”,2 would send the command KI2 to the slave controller on
handle F.
USAGE:
OPERAND USAGE:
_SAhn gives the value of the response to the command sent with an SA command. The h value represents
the handle A thru P and the n value represents the specific field returned from the controller (1-8). If the
specific field is not used, the operand will be (-2
31
).
RELATED COMMANDS:
EXAMPLES:
Recommended Send Method
0$1B$$ 6$$ Ê9  Ê9 
0$1B$% -30$1B$$ B,+$! -30$1B$% B,+$ !
Recommended Receive Method
08 $ 6$( Ê0*B73'Ê
08 % -308 $ B,+(! -308 % B,+( ! 9 B6$(

While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes Distributed Control Yes
"IH" Set Internet handles
“HC” Handle Connect
"LO" Lock out communication channels
SAA=”KI”,2 Sends the command to Handle A (slave controller): KI 2
SAA=”KIX=2”
SAA=”TE” Sends the command to Handle A (slave controller): TE
MG_SAA : 132 Display the content of the operand _SAA (first response to TE command