The "Command Order" Double Word
(Original Document)
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At a Glance
The Command Order double word, defined in the configuration of each loop, enables the transmission of one or more operating mode change commands.
The required %MD double word is entered at the same time as the loop parameters of the configuration screen.
The first sixteen bits (from 0 to 15) are identical to those of the periodic data table status word. This single word is copied into the fist part of the Command Order double word.
NOTE: If the option Reset %MWi on cold restart is checked on the processor configuration screen, the X28 bit of the Command Order double word shall be reset to zero during the first cycle following the cold restart. It is therefore essential that the X28 bit be set to 1 by the project in the processing section of the cold restart (project operating mode management).
Description
The following table describes each bit of the Command Order double word.
Double word bit
Associated simple word bit
Description
Indication
Command (1)
%MDi.0
%MWi.0
0 : Manu, 1: Auto
X
X
%MDi.1
%MWi.1
Tracking
X
X
%MDi.2
%MWi.2
Autotuning
X
X
%MDi.3
%MWi.3
0 : Remote, 1: Local
X
X
%MDi.4
%MWi.4
Output 1 from ON/OFF or SERVO
X
X (2)
%MDi.5
%MWi.5
Output 2 from ON/OFF3 or SERVO
X
X(2)
%MDi.6
%MWi.6
Output 1 from SERVO2
X
-
%MDi.7
%MWi.7
Output 2 from SERVO2
X
-
%MDi.8
%MWi.8
SP1 or SP2 selection
X
X
%MDi.9
%MWi.9
Auto-selector in auto-selection mode
X
X
%MDi.10
%MWi.10
Auto-selector in direct main loop mode
X
X
%MDi.11
%MWi.11
Auto-selector in direct secondary loop mode
X
X
%MDi.12
%MWi.12
PID1 or PID2 output selected
X
%MDi.13
%MWi.13
Reserved
-
-
%MDi.14
%MWi.14
Reserved
-
-
%MDi.15
%MWi.15
Reserved
-
-
%MDi.1
%MWi.1
0 : copy not used,
1 : copy used
X
X
%MDi.17
%MWi+1.1
0 : releasing totaling, 1: freezing totaling
X
X
%MDi.18
%MWi+1.2
Re-initializing totaling
-
X(3)
%MDi.19
%MWi+1.3
Return to previous adjustments
-
X(3)
%MDi.20
%MWi+1.4
Acknowledging auto-tuning diagnostics
-
X(3)
%MDi.21
%MWi+1.5
Re-initializing SERVO1
-
X(3)
%MDi.22
%MWi+1.6
Re-initializing SERVO2
-
X(3)
%MDi.23
%MWi+1.7
Save parameters
-
X(3)
%MDi.24
%MWi+1.8
Reserved
-
-
%MDi.25
%MWi+1.9
Reserved
-
-
%MDi.26
%MWi+1.10
Reserved
-
-
%MDi.27
%MWi+1.11
Reserved
-
-
%MDi.28
%MWi+1.12
0 : Writing of command word prohibited,
1 : writing of command word authorized
X
X
%MDi.29
%MWi+1.13
Reserved
-
-
%MDi.30
%MWi+1.14
Reserved
-
-
%MDi.31
%MWi+1.15
Reserved
-
-
Legend
X : Yes
- : No
(1) : the command is acknowledged only if the X28 bit is at 1
(2) : There is no command associated to the function; it is included merely as information.
(3) : the bit is automatically reset to zero