A Reminder of How the WRITE_CMD Instruction Works

Reminder

This service allows a command to be sent to the motion controller.

WRITE_CMD: Explicit writing of command words in the module. This operation is carried out via internal words %MW, which contain the command to be carried out and its parameters (a motion control, for example).

Syntax of WRITE_CMD Instruction

WRITE_CMD %CHr.m.c: Write channel i command information for the module located in address xy (rack number, position in the rack).

Example: WRITE_CMD %CH0.3.1 (write channel 1 command information for the module located in position 3 of rack 0).

WRITE_CMD Interface

The command to be carried out is defined in word %MWr.m.c.26 and the result of the command is available in words %MWr.m.c.19 to %MWr.m.c.24.

Address	Type	Symbol	Meaning
%MWr.m.c.19	Word	ERROR_CMD	WRITE_CMD command write error
%MDr.m.c.20	Double word	RETURN_CMD_1	Return 1 of the function
%MFr.m.c.22	Floating point	RETURN_CMD_2	Return 2 of the function
%MFr.m.c.24	Floating point	RETURN_CMD_3	Return 3 of the function
%MWr.m.c.26	Word	ACTION_CMD	Action to be carried out
%MDr.m.c.27	Double word	PARAM_CMD_1	Parameter 1
%MDr.m.c.29	Double word	PARAM_CMD_2	Parameter 2
%MFr.m.c.31	Floating point	PARAM_CMD_3	Parameter 3
%MFr.m.c.33	Floating point	PARAM_CMD_4	Parameter 4

Monitoring the Exchange

The next 2 bits may be used to monitor the writing of command information in the module:

Bit	Meaning
%MWr.m.c.0:X1	This bit is set to 1 while the exchange is in progress. It is reset to 0 when the exchange has been completed.
%MWr.m.c.1:X1	This bit is set to 1 if the parameters transmitted are out of range or erroneous.