User`s manual

DSM to PLC Interface
GFK-1742A Chapter 5 Motion Mate DSM314 to PLC Interface 5-15
5
Section 4: %AQ Immediate Commands
The following %AQ Immediate Command words are transferred each PLC sweep from the CPU
%AQ data to the DSM314. The number of %AQ words configured (6, 9, or 12) depends upon the
number of controlled axes configured. The actual addresses of the Immediate Command words
depend on the starting address configured for the %AQ words. See Table 4-1, “Settings Tab.”
The word offset numbers listed in the following table are offsets to this starting address. The
words are assigned as follows:
Table 5-6. %AQ Word Assignments
Word Offset Description Axis
00 Immediate Command Word Servo 1
01-02 Command Data Servo 1
03 Immediate Command Word Servo 2
04-05 Command Data Servo 2
06 Immediate Command Word Servo 3
07-08 Command Data Servo 3
09 Immediate Command Word Servo 4
10-11 Command Data Servo 4
Only one %AQ Immediate command may be sent to each axis of the DSM314 every PLC
sweep, the only exception being the
Load Parameter Immediate
command
, which is axis
independent. The number of
Load Parameter Immediate
commands that can be sent in one sweep
depends upon the number of %AQ words configured (see Table 5-8 for details).
Even though the commands are sent each sweep, the DSM314 will act on a command ONLY if it
changed since the last sweep. When any of the 3 words change, the DSM314 will accept the data
as a new command and respond accordingly.
The
Axis OK
%I bit must be ON for an axis to accept a new %AQ Immediate Command.
Under some conditions such as a disconnected digital encoder, un-powered servo amplifier, or un-
cleared error,
Axis OK
will be OFF and the %AQ command processing for that axis will be
disabled. If Digital Servo Axis 1 or 2 is not used for motor control, the configured
Motor Type
must be set to 0 or an error will be reported and
Axis OK
will stay OFF.
The 6-byte format for the Immediate Commands is defined in Table 5-7. The actual addresses of
the Immediate Command Words depend on the starting address configured for the %AQ
references.
The word numbers listed in the following table are offsets to this starting address.
The word offsets are shown in reverse order and in hexadecimal to simplify the data entry. The
following example sends the Set Position command to axis 1. The first word, word 0, contains the
actual command number. For the Set Position command, the command number is 0023h. The