Control Word - Georges Renault DEVICE NET Manuel Opérateur

6.2.2.5.4 Coding an angle + torque-controlled run reverse phase "R3"
@ Byte @ word
0X600 0X300 Header (station, cycle, phase, etc)
Minimum torque
Maximum torque
Safety torque
Angle threshold
Minimum angle
Target angle
Maximum angle
Direction of rotation ("++" / "--")
Rotation speed
Power

6.3 - Control word

To take account of the cycle programming or reading, the PLC must validate the request by writing the control word at the
following address: 0x650.
When the PLC accesses the phase data, it must reset the acknowledgement flag (least significant bytes of the control word) and
position the most significant byte:
Bit7 Bit6
Write / Read Control
0x80
0x40
At each new access, it is necessary to modify the access counter.
When the CVI has finished to program or read the phase, it resets the most significant byte and provides a report in the least
significant byte:
Bit number
7
6
5
4
3
2
1
0
The control word must be the last one to be updated; that is the reason why it is at the end of the phase data. If
the control word is written using the memory transfer, it must be a specific transfer to address 0x650.
Operator's Manual
DEVICE NET
Description
Bit5 Bit4
Writing requested
Reading requested
Mask value
1 Task completed
0x80
0 Task in progress
1 Error detected
0x40
0 No error
0x20 Not used at 0
0x10 1 Access error: cycle in progress or programming in progress
0x08 1 Error: non-existent phase
1 Error: incompatibility between phase stored in CVI and phase
0x04
that the operator wants to program
0x02 1 Phase access error.
0x01 1 Parameter error (station no., spindle, phase or cycle)
Access Size
W/R 12
W/R 6
W/R 6
W/R 6
W/R 6
W/R 6
W/R 6
W/R 6
W/R 2
W/R 4
W/R 4
64
Bit3 Bit2
Access counter
Description
6159932680-01
English
21/28
Value
"XXXXXX"
"XXXXXX"
"XXXXXX"
"XXXXXX"
"XXXXXX"
"XXXXXX"
"XXXXXX"
"XX"
"XXXX"
"XXXX"
Bit1 Bit0