Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Instrukcja Użytkownika Pobierz pdf (Strona 36)

36 Rockwell Automation Publication 2071-RM001B-EN-P - April 2013

Chapter 3 General Commands (ASCII)

Triggered Data Collection (MOT)

Attribute Value

Command MOT

Description Sets, watches, and reads trigger monitor

Format STX ID # MOT Ch1 Ch2 Src SP Num Mode Pos Level : BSS ETX

Data Argument Description

Ch1, Ch2 Input signals, See Appendix A

(variables 0x00…0x0F only)

Src Trigger Source (0x000…0x009, 0x101…0x112)

Refer to Monitor Variables on page 131 for the list of variables.

0x101-0x10A: DI#1…DI#10

0x10B: Emergency Stop Input

0x10C-0x10E: DO#1…DO#3

0x10F: Safety Alarm Output

0x110-0x112: DO#4…DO#6

SP Sample Period, Range 0x01…0x64 (0.2…20 ms)

Num Number of data points *10, Range 0x01…0x1E (1…30)

Mode Trigger mode

1 = Positive Edge

2 = Negative Edge

Pos Trigger Position (1…9)

The percentage of data to be received before the trigger point.

For example, if Pos = 3 then 30% of data received before the

trigger point and 70% of data received after the trigger point.

Level Trigger level/threshold; the value of the Trigger Source. Values

are 4 or 8-bytes signed.

Usage Note This command is sent to the drive prior to monitoring or reading the Triggered Data

Collection (MOT) command variants below. See Figure 1

for command examples.

Response ACK

Next Command MOT

Format STX ID # MOT: BSS ETX

Usage Note This command is sent to the drive to verify data is available.

Response If data is not ready: STX ID $ BSY : BSS ETX

If data is ready: STX ID $ TOK : BSS ETX

Next Command MOT

Format STX ID # MOT NumD : BSS ETX

Data Argument Description

NumD Data Point to retrieve the data from; Range 00…(Num-1)

Usage Note This command can be used when previous command returned TOK.

Send ESC to stop data collection.

Response Format STX ID $ MOT V1&V2&...V20 : BSS ETX

Response Data Argument Description

V1…V20 Data transmission is done in blocks of 10.

Because there are 2 channels, 20 values are returned, with values

alternating between the first channel and the second channel.

Values are a signed integer of variable length (4 or 8-bytes).

1 2 ... 31 32 33 34 35 36 37 38 39 40 41 ... 145 146

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