User guide

74 6000 Series Programmer's Guide
Daisy-Chaining from a Master 6000 Controller
Controlling the daisy-chain from a master 6000 controller (the first unit on the daisy-chain)
requires the programs stored in the master controller to control program and command
execution on the slave controllers. The example below demonstrates the use of the WRITE
command to send commands to other units on the daisy chain.
NOTE
The last unit on the daisy-chain must have RS-232C echo disabled (ECHOØ command).
Master controller's main program:
Program:
DEF main ; Program main
L ; Indefinite loop
WHILE (IN.1 = b0) ; Wait for input #1 to go active
NWHILE
GOL ; Initiate linear interpolated move
WHILE (IN.1 = b1) ; Wait for input #1 to go inactive
NWHILE
WRITE"2_D2000,4000" ; Send message "2_D2000,4000" down the daisy chain
WRITE"2_ACK" ; Send message "2_ACK" down the daisy chain
LN ; End of loop
END ; End of program main
Controller unit #2 ack program:
Program:
DEF ack ; Program ack
GO11 ; Start motion on both axes
END ; End of program ack
Daisy-Chaining and RP240s
RP240s cannot be placed in the controller daisy chain; RP240s can only be connected to the
designated RP240 port on a controller. It is possible to use only one RP240 with a controller
daisy-chain to input data for multiple units on the chain. The example below (for the
controller master with an RP240 connected) reads data from the RP240 into variables #1
(data1) & #2 (data2), then sends the messages 3_Ddata1,data2<CR> and 3_GO<CR>.
Sample portion of code:
L ; Indefinite loop
VAR1=DREAD ; Read RP240 data into variable #1
VAR2=DREAD ; Read RP240 data into variable #2
EOT0,0,0,0 ; Turn off <CR>
WRITE"3_D" ; Send message "3_D" down the daisy chain
WRVAR1 ; Send variable #1 data down the daisy chain
WRITE"," ; Send message "," down the daisy chain
EOT13,0,0,0 ; Turn on <CR>
WRVAR2 ; Send variable #2 data down the daisy chain
WRITE"3_GO" ; Send message "3_GO" down the daisy chain
LN ; End of loop