Appendix A: Command Reference
A-93
6. The Axis 0 Data In Registers (I+2, I+4, I+6, I+8) will hold Axis 0’s Target Position values from the
graph. Store these values in your graph array.
7. Add four to each of the Axis 0 Command Registers (O+1, O+3, O+5, O+7) to request the next
four time periods.
8. Repeat steps 5 through 7 until all the desired data has been read.
Tips
• Do not download more data than you need. For example, if only 256 points are required for a
graph, don’t download all 1024 points.
A.3.18 Event Step Transfer Command
Format: 1110 DSSS SSSS SNNN
D Direction. Write (0) or read (1) event step.
S Step number. 0 to 255.
N Field in the event step. 0 to 7.
These commands are used to move event step information to and from the RMC. The D bit
shown in the binary expansion of the Event Step Transfer Command register indicates whether
the command will write an Event Step value (indicated by a 0) or read an Event Step value
(indicated by a 1). Therefore, commands E000 to E7FF set (write) data to the RMC, while
commands E800 to EFFF get (read) data from the RMC. The eight S bits specify the step
number, and the three N bits represent the field in the Event Step to access. Use the following
chart to select the desired field:
VALUE
STEP FIELD
101
AXES
110 LINK TYPE/NEXT
To write event step information to the RMC, use the following commands to set the corresponding
fields. The command data value will be copied into the corresponding step field:
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