Syntax
??VAR |
Ask a group of axes to return each a 16/32 bit data from memory |
– |
Answer to GiveMeData2 request |
Operands VAR: 16/32-bit TML data: register, parameter, variable or user variable
Remark: The online instructions are intended only for host/master usage and cannot reside in a TML program. Therefore their syntax is fictive, the only goal being to identify these commands.
In the Binary Code Viewer you can to “emulate” a GiveMeData2 request and a TakeData2 answer with syntax ??VAR.
Binary code
| Description | Through GiveMeData2 command an external device can request data from a group of drives/motors, using a multicast or broadcast message. The requested data can be: |
| • | A TML data from the RAM memory for data (dm) |
| • | A memory location from the RAM memory for TML programs (pm) |
| • | A memory location from the EEPROM SPI-connected memory (spi) |
The dimension of the requested data is specified in the binary code through the VT bit: 0 – 16-bit, 1 – 32-bit. The data is identified by its memory address and type:
The answer to a GiveMeData2 command is a TakeData2 message including the expeditor Axis ID, the address of the data returned and its value.
Remark: The GiveMeData2 and command can be sent simultaneously to a group of drives/motors from a CAN bus network. Even if all the axes answer in the same time, the host will get the TakeData2 answers one by one, prioritized in the ascending order of the expeditors’ axis ID: axis 1 – highest priority, axis 255 – lowest priority. Hence these commands allow optimizing bus traffic, by sending for the same data, a single request to all the drives involved.