Local Commands; Accessing The I/O Of The Slaves - Galil Motion Control CDS-3310 User Manual

Local Commands

Local commands only affect a single controller and take one of three forms:
(1) A local command is sent to the master. Any command (such as BN) not in the table above will
only affect the master.
(2) An application program runs on a slave controller or a PC sends a command to a slave. The
command will affect only that slave. Any motion commands must reference the X axis (e.g.
BGX).
(3) An SA command is sent to a slave. For the master controller to send a command that is not on the
global list to a slave, it must send an SA command.

Accessing the I/O of the Slaves

The I/O of the slaves is settable and readable from the master. The bit numbers are adjusted by the
handle number of the slave controller (use TH on the master to determine which slave is connected to
which handle). Each handle adds 100 to the bit number. Handle A is 100 and handle H is 800. In a
TCP/IP control setup with two handles per slave, it is imperative that you send commands to the first
handle designated as the "command" handle.
Slave I/O may be set globally according to the following numbering scheme:
For example, to set digital output bit 2 on a UDP distributed slave using the E handle for
communication, the E handle would have a numerical value of 500 and the bit has a value of 2. The
command would therefore be SB 502.
The command TZ can be used to display all of the digital I/O contained in a distributed control system.
Specific slave controllers may be queried by issuing TZn where n is the specific Ethernet handle.
The table below lists global commands that can be issued on the master to query slave I/O:
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GlobalBit = (Slave Handle * 100) + LocalBit.
I/O Type Global Commands
(Handle * 100) + bit
Digital Inputs @IN, TI
Digital Outputs SB, CB, @OUT
Analog Inputs @AN
Analog Outputs AO
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