3D sensor
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Initialisation of input and output buffers
After the connection is established, the input and output buffers are initialised with 0 s.
Command execution triggering
As soon as the command bit in the output frame changes from 0 to 1, the corresponding command will be
executed.
Handling of multiple command bits
If more than one command bit is set to 1, an error will be reported.
Command execution completion
The PLC has to reset the command bit from 1 to 0 before a new command can be executed. The device
has to reset the command word and increase the message counter within the input frame. Mandatory and
non mandatory data in the response frame is set to 0x0.
Blocking of asynchronous messages
As long as the command handshake procedure has not been finished, no asynchronous message will be
sent by the device.
Client disconnect
If the client is disconnecting before finishing the handshake procedure, the handshake procedure is
canceled and all buffers are reset.
General reply to an implemented command
If the command is implemented, the data in the data section is applicable and the execution of the
command does not lead to an error. The input frame contains the following data:
●
Error bit = 0
●
Command bits = mirror of the command within the output frame
●
Asynchronous message bit = 0
●
Asynchronous message identifier = 0
●
Message counter increased by 1
●
Message data set to 0
Reply to an implemented command - reply contains specific data
If the command is implemented, the data in the data section is applicable and the execution of the
command does not lead to an error. The input frame contains the following data:
●
Error bit = 0
●
Command bits = mirror of the command within the output frame
●
Asynchronous message bit = 0
●
Asynchronous message identifier = 0
●
Message counter increased by 1
●
Message data set according to the command definition
