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Section 4: %AQ Immediate Commands
The following %AQ Immediate Command words are transferred each PLC sweep from the CPU
%AQ data to the DSM302. The length of the %AQ Immediate Command words is configured with
the Configuration Software to be a length of 6, 9, or 12. The actual addresses of the Immediate
Command words depend on the starting address configured for the %AQ references. See Table 41, Module Configuration Data. The word numbers listed in the following table are offsets to this
starting address. The words are assigned as follows:
Table 5-6. %AQ Word Assignments
Word Offset
Description
00
01-02
03
04-05
Immediate Command Word
Command Data
Immediate Command Word
Command Data
Axis
Servo 1
Servo 1
Servo 2
Servo 2
Configured for 9 %AQ words
06
07-08
Immediate Command Word*
Command Data*
Aux3
Aux3
Configured for 12 %AQ words
09
10-11
Immediate Command Word*
Command Data*
Aux4
Aux4
* These words can be used for Force Analog Output commands ONLY
Only one %AQ Immediate command may be sent to each axis of the DSM302 every PLC
sweep. The only exception is the Load Parameter Immediate command, which is axis independent.
Thus two Load Parameter Immediate commands can be sent on the same sweep (one in the first
three %AQ words and the other in the second three %AQ words).
Even though the commands are sent each sweep, the DSM302 will act on a command ONLY if it
changed since the last sweep. When any of the 3 words change, the DSM302 will accept the data as
a new command and respond accordingly.
The Axis Enabled %I bit must be ON for an axis to accept a new %AQ Immediate Command.
Under some conditions such as a disconnected encoder or un-powered servo amplifier, Axis
Enabled will be OFF and the %AQ command processing for that axis will be disabled. If Servo
Axis 1 or 2 is not used for motor control, the configured Motor Type must be set to 0 or an error
will be reported and Axis Enabled will stay OFF.
The 6-byte format for the Immediate Commands is defined in Table 5-7. The actual addresses of
the Immediate Command Words depend on the starting address configured for the %AQ references.
The word numbers listed in the following table are offsets to this starting address.
The word offsets are shown in reverse order and in hexadecimal to simplify the data entry. The
following example sends the Set Position command to axis 1. The first word, word 0, contains the
actual command number. For the Set Position command, the command number is 0023h. The
GFK-1464C
Chapter 5 Motion Mate DSM302 to PLC Interface
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