Owner's manual

Example:

If you sent out the following data in the Output registers:

CMND (HEX)

4TTTTT+1 0000|0011|1111|0101 (03F5) Diagnostic command

+2 0001|0010|0100|1000 (1248) Diagnostic data

4TTTTT+3 0000|1100|1111|1010 (0CFA) Diagnostic command

+4 1000|0100|0010|0001 (8421) Diagnostic data

After the Synchronization Output register is incremented, the motion controller will

process the commands and update the Synchronization Input register to match. At this

time, the input registers would hold the following values:

3TTTTT+1 0000|0011|1111|0101 (03F5) Same as Output

+2 0001|0010|0100|1000 (1248) Same as Output

3TTTTT+3 0000|1100|1111|1010 (0CFA) Same as Output

+4 1000|0100|0010|0001 (8421) Same as Output

Event Step Transfer Command

Format: 1110 DSSS SSSS SNNN

D Direction. Write (0) or read (1) event step.

S Step number. 0 to 255.

N Field in the event step. 0 to 7.

These commands are used to move event step information to and from the motion

controller. The D bit shown in the binary expansion of the Event Step Transfer

Command register indicates whether the command will write an Event Step value

(indicated by a 0) or read an Event Step value (indicated by a 1). Therefore, commands

E000 to E7FF set (write) data to the motion controller, while commands E800 to EFFF

get (read) data from the motion controller. The eight S bits specify the step number, and

the three N bits represent the field in the Event Step to access. Use the following chart to

select the desired field:

N BITS

VALUE STEP FIELD

000 MODE

001 ACCEL

010 DECEL

011 SPEED

100 COMMAND VALUE

101 COMMAND

110 LINK TYPE/NEXT

111 LINK VALUE