Delta RMC101 User Manual Page 740

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RMC100 and RMCWin User Manual
A-88
+4 1000|0100|0010|0001 (8421) Same as Output
Example for Digital I/O:
Suppose you want to test using the Digital I/O for sending data. You must send a 0x00F0 to
trigger the diagnostic command, and you can then send any data the second scan. The following
sequence is one possible way this would take place:
Send on Command Strobe going high:
0000|0000|1111|0000 (00F0) Diagnostic command
Receive after Acknowledge:
1111|0000 (F0) Low byte of diagnostic command
Send on Command Strobe going high:
0000|0000|0000|1111 (000F) Diagnostic data
Receive after Acknowledge:
0000|1111 (0F) Low byte of diagnostic data
A.3.17 Download Graph Data Commands
Format: GGGG GGNN NNNN NNNN
G Graph selection index (includes axis number and data type). 8 to 55.
N Time index. 0 to 1023.
Note: These commands are available only through RMC PROFIBUS modules using Compact
Mode and require RMC100 CPU firmware dated 19980811 or newer. RMC DI/O modules cannot
download graphs. Modbus Plus, Ethernet, and PROFIBUS in Message Mode can read the plots
registers directly. See the appropriate RMC Register Map and Reading Plot Data from the
Motion Controller for further details.
Download Graph Data commands allow the PROFIBUS-DP master to get the same graph data
that is available to RMCWin for graphing and debugging. Each of these commands read a single
word of graph data. The RMC starts its graph data acquisition when a Go, Move Relative, Open
Loop, Sine Move, Follow Spline, or Start Graph command is issued. At that time the RMC starts
to fill six 1024-word arrays at a rate determined by the Plot Time parameter. The master can
retrieve the graph data one word per scan per axis until the graph data gets overwritten by the
next graph. This will only happen when another graph is initiated using one of the commands
above. If you wish to issue one of the commands above but don’t want to overwrite the current
graph for that axis, set the Graph Disable bit in the Mode word.
Note: You need not read the entire 1024-element graph. Therefore, if you only require 256
points from the graph, just read those 256 points.
Note: Because only a single word of graph data can be read by each axis each command cycle,
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