IAI RoboNet, Operation Manual

Page: 129 / 398

109
Part 1 Specification
3.8.5 Command Transmission
A command transmission chart is shown below.
The GateWayR unit analyzes each request command and returns a response every time the replacement of control/status
data of all axes, which is performed constantly, is completed.
The PLC and GateWayR unit perform the following actions:
[1] Upon detecting a response command with zero set in it, the PLC application sets the necessary request command and
data.
[2] Upon detecting the change of the request command to a value other than zero, the gateway sends the request data to the
applicable axis.
[3] Upon receiving a response from the applicable axis, the gateway outputs the response result.
[4] Upon confirming the response result, the PLC application clears the request command.
[5] Upon detecting the clearing of the request command, the gateway clears the response command and waits for the next
command.
[1] to [5] are repeated if commands are used consecutively.
[1]
[2]
[3]
[4]
[5]
PLC request
Gateway response
Request command,
data
Controller command
transmission via the
gateway
Response command,
response data
Response = 0000H
Request = 0000H