NPM Motionnet G9001A, Руководство пользователя

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DA70131-1/3E
I-35
5-2. Operating procedure
5-2-1. Reset
After turning ON the power, make sure to reset at least once before starting any operation.
1) To perform a reset, place a LOW on the
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RST terminal for at least 10 reference clock cycles.
2) Wait until the status bit 13 (RBSY) becomes 0.
5-2-2. Cyclic communication procedures
1) Write a command 1000h (start system communications to all the devices), and allow the "device information"
area to be set automatically. If the "device information" is already known, you may write data/information to the
devices from the CPU.
2) Place an initial value in the "port data" area. (Steps 1) and 2) can be performed in either order.)
3) Write a command 3000h to start cyclic communications.
After that, write output information to the "port data" area when needed, and read input information from the "port
data" area.
5-2-3. Data communication procedure
1) Write data to be sent (multiple words) to the "data transmitting FIFO."
2) Write a send data command (4000h to 403Fh) to send the data.
3) Wait until the status bit 0 (CEND) becomes 1.
4) If data has been received, the status bit 10 (RDBB) will become 1.
Until the status bit 10 (RDBB) returns to 0, the center device will read the response data from the "data receiving
FIFO."
Note 1: While cyclic communication is stopped, data communication is disabled.
Note 2: Writing a send data command clears the "data receiving FIFO".
5-2-4. Exclude a device with an error
1) The center device reads the interrupt status bits EDN0 to 5 to identify the deice which has an error.
2) Set the "device-in-use" bit in the "device information" area, which corresponds to the device with an error, to 0.
5-2-5. Restoring excluded devices to cyclic communications
Set the corresponding "device-in-use" bit in the "device information" area to 1.
Or, when RENV0(8) = 0, the following methods are available.
1) Send a rising edge ON signal to the excluded local device's BRK terminal.
2) When the center device receives the break frame, it will output an interrupt request to the CPU.
3) Write a command 1100h to check all of the excluded devices, and refresh the "device information" area.
5-3. Status after reset
Command ···································· 0000h
Status ········································· 0000h
Interrupt status ······························ 0000h
I/O buffer ····································· 0000h
Data transmitting FIFO ···················· Undetermined.
Data receiving FIFO ······················· Undetermined.
Device information ························· All 00h
Cyclic communication error flag ········ All 00h
Input change interrupt setting ··········· All 00h
Input change interrupt flag ··············· All 00h
Port data ······································ All 00h
Registers ······································ 0000h (RVER), 0001(all except RVER)