Appendix-590
Real-time external control function
7Appendix
Reply input/output signal
data designation
RecvIOType
unsigned short
(2-byte)
1) When transmitting (commanding) from the personal computer to the
controller, designate the data type of the input/output signal
replied from the controller.
Designate "No data" when not using this function.
0 //
No data
1 //
Output signal
2 //
Input signal
2) When receiving (monitoring) from the controller to the personal
computer, Not used.
Input/output signal data
BitTop
BitMask
IoData
unsigned short
unsigned short
unsigned short
(2-byte x 3)
1) When transmitting (commanding) from the personal computer to the
controller, designate the output signal data transmitted from the
personal computer.
2) When receiving (monitoring) from the controller to the personal
computer, this indicates the input/output signal data replied from
the controller.
The contents of the data are common.
BitTop;
//
Head bit No. of input or output signal
BitMask; //
Bit mask pattern designation (valid only for
commanding)
IoData;
//
Input or output signal data value (for monitoring)
Output signal data value (for commanding)
* Data is 16-bit data
Timeout time counter value
Tcount
unsigned short
(2-byte)
1) When transmitting (commanding) from the personal computer to the
controller, Not used.
2) When receiving (monitoring) from controller to personal
computer, if the timeout time parameter MXTTOUT is a value other
than -1, this indicates the No. of times communication with the
controller was not possible. When the No. of times is counted and
reaches the maximum value, the value will return to the minimum
value 0, and the count will be repeated. This is set to 0 when the
MXT command is started.
Counter value for communi-
cation data
Ccount
unsigned long
(4-byte)
1) When transmitting (commanding) from the personal computer to the
controller, Not used.
2) When receiving (monitoring) from controller to personal
computer, this indicates the No. of communication times. When the
No. of times is counted and reaches the maximum value, the value
will return to the minimum value 0, and the count will be repeated.
This is set to 0 when the MXT command is started.
Reply data-type specification
addition 1
RecvType1
unsigned short
(2-byte)
It is the same as reply data-type specification (RecvType).
Don't use it for instructions.
Reservation 1
reserve1
unsigned short
(2-byte)
Not used.
Data addition 1
pos / jnt / pls
Any of POSE/
JOINT/PULSE.
(40-byte)
It is the same as data of pos/jnt/pls.
Don't use it for instructions.
Reply data-type specification
addition 2
RecvType2
unsigned short
(2-byte)
It is the same as reply data-type specification (RecvType).
Don't use it for instructions.
Reservation 2
Reserve2
unsigned short
(2-byte)
Not used
Data addition 2
pos / jnt / pls
Any of POSE/
JOINT/PULSE.
(40-byte)
It is the same as data of pos/jnt/pls.
Don't use it for instructions.
