Shibaura CA20-M10, Operating Manual

Page: 206 / 384

11
– 16
(4)
"Request current position" (monitor) command (E300H)
Command (CC-Link master station

CA20-M10-CC) Response (CC-Link master station

CA20-M10-CC)
Remote
register
b15------b8 b7------b0 Remarks
Remote
register
b15------b8 b7------b0 Remarks
RWwn E3H 00 Command RWrn E3H 00H
Same value as
command
RWw(n+1) K1-K4 Task number RWr(n+1)
Fixed at “K0”
Unused
RWw(n+2)
～
RWw(n+F)
Fixed at “K0”
Use prohibited
RWr(n+2)
Fixed at “K0”
Unused
RWr(n+3) Error code
RWr(n+4)
K-800000
～
K+800000 Axis 1 coordinate
RWr(n+5)
RWr(n+6)
K-800000
～
K+800000 Axis 2 coordinate
RWr(n+7)
RWr(n+8)
～
RWr(n+F)
Fixed at “K0”
Unused
• Data length of coordinate value: 32 bits
• Unit of coordinate value: 0.01 [mm] (Ex.: +100.00 [mm]

K+10000)
• When 0 is specified in task number, the controller controls for an active task.
Error code
0000H Normal
1000H Command analysis error (An error is found in the command.)
(5)
"Request current offset value" (monitor) command (E400H)
Command (CC-Link master station

CA20-M10-CC) Response (CC-Link master station

CA20-M10-CC)
Remote
register
b15------b8 b7------b0 Remarks
Remote
register
b15------b8 b7------b0 Remarks
RWwn E4H 00 Command RWrn E4H 00H
Same value as
command
RWw(n+1) K1-K4 Task number RWr(n+1)
Fixed at “K0”
Unused
RWw(n+2)
～
RWw(n+F)
Fixed at “K0”
Use prohibited
RWr(n+2)
Fixed at “K0”
Unused
RWr(n+3) Error code
RWr(n+4)
K-800000
～
K+800000 Axis 1 coordinate
RWr(n+5)
RWr(n+6)
K-800000
～
K+800000 Axis 2 coordinate
RWr(n+7)
RWr(n+8)
～
RWr(n+F)
Fixed at “K0”
Unused

Data length of coordinate value: 32 bits

Unit of coordinate value: 0.01 [mm] (Ex.: +100.00 [mm]

K+10000)

When 0 is specified in task number, the controller controls for an active task.
Error code
0000H Normal
1000H Command analysis error (An error is found in the command.)