User Manual

6 Communication
To further clarify the ordering, keep these basic rules in mind:
• Do change the read address and Read/Write bit before toggling the Read/Write
Request bit.
• Do not change the Read/Write Request bit after a read request until you have
processed the data in the Read Response register.
• Do not change the read address or Read/Write bit when the Read/Write Request
bit does not match the Read/Write Acknowledge bit.
Write to Any Single RMC70 Register
To write to a single RMC70 register, use the Command Block register 6 and the Response
Block register 0. Register 0 of the RMC70 Indirect Data Map must be mapped to the Axis
0 Status Bits
register.
To write to the RMC70, use the following steps:
• Wait until the Command Block register 6 Read/Write Request bit is equal to the
Response Block register 0 Read/Write Acknowledge bit. If they are not equal, the
RMC70 is currently processing a read or write request.
• Copy the value you wish to write to the RMC70 into the Write Value register (7) of the
Command Block.
• In the Command Block register 6, enter the Read/Write Address file and element. For
example, for address %MD56.0, the file is 56, and the element is 0. For a description
of all RMC70 registers and their addresses, see the RMC70 Register Map
topic.
• Set the Command Block register 6 Read/Write bit.
• Toggle the Read/Write Request bit.
• Wait until the Read/Write Request bit is equal to the Read/Write Acknowledge
bit. When they are equal, the RMC70 has received the data written to it.
To further clarify the ordering, keep these basic rules in mind:
• Do change the Read/Write bit, write address, and write value before toggling the
Read/Write Request bit.
• Do not change the Read/Write bit, write address, or write value when the
Read/Write Request bit does not match the Read/Write Acknowledge bit.
Note:
The RMC70 sets the Read/Write Acknowledge bit equal to the Read/Write Request to
the acknowledge that the write was processed. In addition, the RMC70 also places the write
value in the Read Response register. This provides a simple method of verifying that the write
was completed.
Write to Any Contiguous RMC70 Registers
To write to any contiguous RMC70 registers, use Command Block registers 8-15 and
Response Block register 8. To write to the RMC70, use the following steps:
• Wait until the Command Block register 8 Read/Write Request bit is equal to the
Response Block register 8 Read/Write Acknowledge bit. If they are not equal, the
RMC70 is currently processing a read or write request.
• Set the Command Block register 8 Read/Write bit.
• In the Command Block register 8, set the Read/Write Address File and Read/Write
Address to the first RMC70 address you wish to write to. Set the Count to the number
of register to write, up to 7. For a description of all RMC70 registers and their
addresses, see the RMC70 Register Map
topic.
• In the Command Block registers 9-15, put the values you wish to write.
• Toggle the Read/Write Request bit.
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