SICK PLOC2D 4.1 - Page 82

1. The robot guidance system (RG system) sets the control bit READY=1 signaling
that it is ready to accept new data.
2. The PLC writes command arguments to the command data field (64 bytes). Which
parameters are written may differ between commands, but the layout of the data
field is always the same.
3. The PLC sets the bit of the command to execute (bit 0–14 or bit 15 to execute the
generic command specified by the command field written in step 2).
4. The RG system parses the command data. If the command was not correct, the
RG system sets ACK=0, NACK=1, OK=0, and NOK=0 and returns to step 1.
5. If the command was correct the RG system sets READY=0, ACK=1, NACK=0,
PROC=1, OK=0 and NOK=0 to indicate that no more data can be written and
that the processing of a new command has started.
6. The RG system executes the command.
7. The result from the command is written to the result data (64 bytes).
8. If the result was OK, the RG system sets OK=1, ACK=0, PROC=0, and
READY=1 to indicate that the result was okay and there are data to read in the
result data field. Then the process starts over from step 1.
9. If the result was not OK, the RG system sets NOK=1, ACK=0, PROC=0, and
READY=1 to indicate that the command returned an error and that the data
about the error can be read from the result data field. Then the process starts over
from step 1.
12 APPENDIX
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O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK
Subject to change without notice