User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 145
5.4 Section 4: %AQ Immediate Commands
The following %AQ Immediate Command words are transferred each host controller sweep
from the CPU %AQ data to the DSM314. The number of %AQ words configured (6, 9, or 12)
depends upon the number of controlled axes configured. The actual addresses of the
Immediate Command words depend on the starting address configured for the %AQ words.
See Table 40, “Settings Tab.” The word offset numbers listed in the following table are
offsets to this starting address. The words are assigned as follows:
Table 45: %AQ Word Assignments
Only one %AQ Immediate command may be sent to each axis of the DSM314 every host
controller sweep, the only exception being the Load Parameter Immediate command,
which is axis independent. The number of Load Parameter Immediate commands that can
be sent in one sweep depends upon the number of %AQ words configured (see Table 47 for
details).
Even though the commands are sent each sweep, the DSM314 will act on a command ONLY
if it changed since the last sweep. When any of the 3 words change, the DSM314 will accept
the data as a new command and respond accordingly.
The Axis OK %I bit must be ON for an axis to accept a new %AQ Immediate Command. Under
some conditions such as a disconnected digital encoder, un-powered servo amplifier, or un-
cleared error, Axis OK will be OFF and the %AQ command processing for that axis will be
disabled. If Digital 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 OK will stay OFF.
The 6-byte format for the Immediate Commands is defined in Table 46. 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.
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