72
DeviceNet (MCW151-DRT-E only) Section 4-2
■ DeviceNet Output
The table below specifies the output data allocation of the status of the MC
Unit.
Note The output words no. 3 and 4 will only be transferred when I/O Slave messag-
ing mode II is selected.
4-2-2 Explicit DeviceNet Messages
Explicit DeviceNet messages (commands) can be sent from the Master to
write and read data to and from both the VR and Table memory of the MC
Unit.
This section presents the explicit messages supported by the MC Unit, and
provides usage examples. For further details on using explicit messages on
the Master Unit, refer to the Master Unit’s Operation Manual.
■ MC Unit Explicit Message List
■ Data Formats
The MC Unit explicit messaging supports two data format types.
One-word format The data is transferred word by word from each PC memory location to each
variable in the MC unit and vice versa. The value in the MC Unit is always the
integer equivalent of the hexadecimal value in the PC (no 2's complement).
From the floating-point data in the MC unit only the integer part will be trans-
ferred. The valid range is [0,65535].
Output
word
Bit Name Function
1 00 to
15
User defined Contents is set at VR(1).
2 00 to
15
User defined Contents is set at VR(4).
3(see
note)
00 to
15
User defined Contents is set at VR(5).
4(see
note)
00 to
15
User defined Contents is set at VR(6).
Explicit message Function Page
TABLE DATA READ
(THREE-WORD FOR-
MAT)
Reads the specified MC Unit’s Table data. The data
is converted into three-word format.
75
VR DATA READ
(THREE-WORD FOR-
MAT)
Reads the specified MC Unit’s VR data. The data is
converted into three-word format.
76
VR DATA READ
(ONE-WORD FOR-
MAT)
Reads the specified MC Unit’s VR data in words. 76
TABLE DATA WRITE
(THREE-WORD FOR-
MAT)
Writes the specified MC Unit’s Table data. The data
is three-word format and will be converted into float-
ing point.
77
VR DATA WRITE
(THREE-WORD FOR-
MAT)
Writes the specified MC Unit’s VR data. The data is
three-word format and will be converted into float-
ing point.
78
VR DATA WRITE
(ONE-WORD FOR-
MAT)
Writes the specified MC Unit’s VR data in words. 79
RESET Will perform a software reset of both the MC Unit
and the Servo Driver.
80
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