4-10
4-3 Command Types
The following commands are used to communicate with a Cam Positioner.
S Memory Area Read: Reads the Resolver speed, present cam angle, cam output
status, executing bank, and control I/O status.
S Parameter Area Read: Reads various parameters and cam programs.
S Parameter Area Write: Writes various parameters and cam programs.
S Controller Data Read: Reads the model and version.
S Unit Attribute Read: Reads the model and communications buffer size.
S Controller Status Read: Reads error codes and executing status.
S Operation Command: Changes the executing status.
S Internode Echo Test: Executes an internode echo test.
This section describes the contents of these FINS-mini command text (PDU) and FINS-
mini response text (PDU). The following examples show FINS-mini response text where
communications has terminated normally (MRES, SRES = “00”). For the entire frame
structure or the contents of MRES and SRES where communications has terminated
abnormally, refer to 4-2-1 Command Frame and 4-2-2 Response Frame.
The following symbols indicate which Cam Positioner mode can be used to execute
each command.
RUN: Indicates a command that can be executed in RUN mode.
PRGM: Indicates a command that can be executed in PRGM mode.
SET: Indicates a command that can be executed in SET mode.
Note The commands that can be executed only in SET mode can also be executed in RUN mode if the
Operation Command (Operating Status Change Command) is executed in RUN mode when the
START signal is OFF and the status is normal.
4-3-1 Memory Area Read (RUN)
H Structure of FINS-mini Command Text (PDU)
MRC SRC
No. of bytes 2 2 2 6 4
“0” “1” “0” “1” “0” “0”
Memory
area code
Beginning address No. of items
Note 1. The memory area code is divided into the following three types.
40: Memory area data in byte (8 bits) units
80: Memory area data in word (16 bits) units
C0:Memory area data in long word (32 bits) units
Set the memory area code as ASCII code “40” (3430 Hex), “80” (3830 Hex), or “C0” (4330
Hex).
Communications Chapter 4
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