X20 system modules • Digital signal processing modules • X20CM1201
X20 system User's Manual 3.10
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4.16.2.10.5 Command interface
A command interface is available to the user. A command consists of:
•
4.16.2.10.5.2 "Command" (in the command description: code)
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4.16.2.10.5.3 "Command parameter" (in the command description: parameters)
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4.16.2.10.5.4 "Command data" (in the command description: Data 0 to 3)
The following commands can be executed:
•
•
4.16.2.10.4.2 "Configure display mode"
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4.16.2.10.4.3 "Enable the interface"
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4.16.2.10.4.4 "Configure parameters"
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4.16.2.10.4.5 "Configure counters"
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4.16.2.10.4.6 "Perform homing"
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4.16.2.10.4.7 "Stop the movement"
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4.16.2.10.4.8 "Acknowledge movement error"
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4.16.2.10.4.9 "Start a movement block"
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4.16.2.10.4.10 "Select debug information"
The module returns:
•
•
4.16.2.10.5.6 "Displays parameter number"
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4.16.2.10.5.7 "Displays data content"
The module detects a new command through a change in the command register. The toggle bit must be changed
in order to detect when the command issued in the 4.16.2.10.5.5 "System status" register is applied. Identical
commands can be executed immediately following one another simply by changing the toggle bit.
4.16.2.10.5.1 Execution of a command
Commands must be sent by the application using the command interface. Due to the simple structure of the
command interface, it is also possible to send them via CAN.
All commands are executed as follows:
1 Write command parameters and command data to the respective register.
2 Write command with changed toggle bit.
When bit 7 in the command register is toggled, the module executes the comand with the command para-
meters and command data.
3 Wait until bit 7 in the response register (System Status) matches bit 7 in the command register.
4 Read additional status information from the response register if necessary.
5 If additional commands should be sent, proceed with step 1.
4.16.2.10.5.2 Send command
Name:
SendCommand
The commands described under 4.16.2.10.4 "Command description" can be sent from this register. Bit 7 must be
toggled to apply the commands.
Data type
Value
USINT
See bit structure.
Bit structure:
Bit
Description
Value
Information
0 - 6
Command code
x
7
Toggle bit for applying a new command
x
Summary of Contents for X20 System
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