Delta RMC101 User Manual download pdf (Page 353)

100

101

Ethernet 5.2

Communications 5-103

Otherwise, when the Sync Out Register is changed, the commands would be re-issued.

3. Write all required command fields to the Output Data for all commands you want to issue.

You can issue up to one command per axis. Leave the Command field set to 0 for each axis that

you do not want to issue a command to.

4. Change the Sync Out Register.

The easiest way to do this is to add one to it. Some PLCs report an error when a register

overflows (e.g. 32,767 to -32,768), so you will instead want to add one and mask it with a value

such as 16,383. This will make the register count from 0 to 16,383, and then wrap back down to 0

without an error. Take care to ensure that you only update the Sync Out Register once so that the

commands do not get re-issued. Therefore, you may need to do intermediate processing in a

separate local register and copy the result into the Sync Out Register.

5. Wait for the Sync In Register to match the Sync Out Register.

It is important to wait until this occurs before using the status bits in the Input Data. See the

example above for how problems can occur if this step is ignored.

Configuration Data

In addition to the Input and Output data that is sent every RPI, configuration data can be sent

when the connection is established. The RMC defines only the first configuration byte. Any

additional configuration bytes must be zero or the connection attempt will be rejected. This byte is

defined as follows:

Configuration Data:

Offsets and sizes are in 8-bit bytes (SINT on the ControlLogix)

Offset

Size

Description

Broken Connection Action. This byte controls the

RMC's handling of a broken controlling I/O connection,

or a transition of the controlling EtherNet/IP client from

Run to Stop/Program. The options for this field are

described in Handling Broken I/O Connections.

If no configuration data is sent when the connection is

established, then this value is assumed to be -1.

5.2.6.3.5 Handling Broken I/O Connections

It is important in many industrial applications to detect faults quickly. One such fault is losing

communication to EtherNet/IP I/O. EtherNet/IP supports a variable timeout value, which is

expressed in terms of Requested Packet Intervals (RPIs). For example, the ControlLogix

establishes its EtherNet/IP I/O connections with a timeout of 32 RPIs. Therefore, an RPI of 5.0

ms will have a timeout of 32 x 5.0 ms or 160 ms.

When either device in an I/O connection does not receive a packet from the other device for the

timeout interval, it closes the connection and typically indicates this condition to the main

program. The method of indicating this condition depends on the actual device. This topic

describes the methods used by the RMC and ControlLogix.

Handling Broken I/O Connections in the RMC

The following conditions are defined as a broken connection in the RMC ENET:

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