IAI RoboNet, Руководство по эксплуатации

Страница: 70 / 398

50
Part 1 Specification
[3] Group-specific broadcast operation commands
These operations can be used in the positioner mode.
The axes specified by the group number are started simultaneously to the position specified by the POS number. Since
these commands implement broadcast communication between the gateway and controllers, no response is returned
from the controllers.
The response result indicated by the PLC input means that the command has been successfully sent to the controllers; it
does not indicate the status of each controller. position complete, etc., based on the status signal of each axis.
Relative address from beginning
CC-Link*3 DeviceNet
PROFIBUS
RS485SIO *1
PLC output (request) PLC input (response)
RY 2*/RX 2* +2 +4/+5 0D03H
RY 3*/RX 3* +3 +6/+7 Target POS number
RY 4*/RX 4* +4 +8/+9 Group ID number *1
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 0
RY 7*/RX 7* +7 +14/+15 Cannot be used.
If the command has been
successful, the value returned in
the response is the same as the
value set in the request.
*1 If this value is “0,” all linked axes will move regardless of the group specification.
The group number is set using a system parameter in the PC software.
*2 If a move command is issued using an axis-specific control word while any axis is currently moving by this command, the
movement by the original command will be cancelled and the axis specified by the latest move command will operate
according to the command. In other words, each axis has two interfaces for move commands.
Provide an interlock to prevent two commands from being issued simultaneously.
*3 The asterisk (*) in addresses is a value between 0 and F.
Caution
Take note that even if the bit of the gateway control signal CFG is turned OFF to cancel the link, the controller will
constantly receive and execute this command once a link has been established.