Data Communication - Hivertec motionCAT Series User Manual

8.2.9 Data Communication

Data communication is used to send commands to operate motion devices.
Data communication is performed by interrupting the cyclic communication at any time (when a command is sent
from the software).
The following figure shows an example of cyclic communication sequence.
M ID = n
The arrow in the figure represents the sequence in cyclic communication. If a data communication command is
issued at [A], it becomes as follows:
M ID = n
Although the time required for one cyclic communication is extended, the data exchange with the target device
can be performed promptly.
In data communication, as in cyclic communication, a response communication is transmitted to the center device
from the local device that has received data.
Note: Data communication is performed "at any time" as mentioned above, yet within the following constraint:
One cyclic communication must be inserted when performing consecutive data communications or
retrying a data communication due to a communication error.
M ID = n
M ID = n
[A]
M ID = n+1
Data
M ID = n+1
communication
A
[A] [B]
M ID = n+1 M ID = n+2
Data
M ID = n+1
communication
A
149
M ID = n+2
M ID = n+2
M ID = m
M ID = n+2
M ID = m
M ID = m
M ID = m
Data
Communication
B
M ID = n+3