User manual

Chapter 6 Block Transfer Programming
58
ADVANCED MICRO CONTROLS INC.
Block Transfer Reads
Use block transfer reads to transfer complete module status to the processor. The block
transfer is always twelve words long. The block transfer data takes one of three forms.
!
Status, Position and Tachometer data
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Transducer Setup data
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Positioning Setup data.
On power up, the 2762-17 transmits status, position and tachometer data. Use the Auxiliary
Commands command with the RTS or RPS bit set to read the other types of data. (For a full
description of the Auxiliary Commands command, see Pg. 56.)
Status, Position and Tachometer Data
The format of the status, position and tachometer data is shown in figure 6.6. Words 0 and 6
contain the status bits. Word 0 contains the status bits for channel 1 and word 6 contains the
status bits for channel 2. The forma of the two words is identical. The tables on the following
page lists the meanings of the status bits.
15 14 13 12 10 09 08 07 06 05 04 03 02 01 0011
Status, Position and Tachometer Data
0000
Motion
Status
Lower 3 digits: Position 1
Word 1
Upper 1, 2 or 3 digits: Position 1
Word 0
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
Word 9
Word 10
Word 11
Output
Status
Module
Status
SGN
Lower 3 digits: Tachometer 1
Upper 1, 2 or 3 digits: Tachometer 1
Lower 3 digits: Position 2
Upper 1, 2 or 3 digits: Position 2
SGN
Lower 3 digits: Tachometer 2
Upper 1, 2 or 3 digits: Tachometer 2
Transducer 2 Status Word
Not used. Set equal to 0000.
Not used. Set equal to 0000.
KBIN
Fig 6.6 Status, Position, and Tachometer Data Format