REG – p645 Register read/write

Reads the value contained in, or writes a new value to the selected p645 register.

Applies to: CMD-4CR, CMD-4EX-SA

ASCII REG[RD/WR]0X[axis][reg]

Syntax:

Read:

REGRD[axis]0X[reg]

Where: [axis] is set to X, Y, Z, U

[reg] is the HEX address of the register to read (see table below)

Write:

REGWR[axis]0X[reg]=[value]

Where: [axis] is set to X, Y, Z, U

[reg] the HEX address of the register to write (see table below)

[value] value to write to Register (must be HEX and begin with 0x

Table of register addresses. All address are in HEX.

Detail	Register					2nd pre-register
	Name	Read command		Write command		Name	Read command		Write command
	Name	Address	Symbol	Address	Symbol	Name	Address	Symbol	Address	Symbol
Feed amount, target position	RMV	D0h	RRMV	90h	WRMV	PRMV	C0h	RPRMV	80h	WPRMV
Initial speed	RFL	D1h	RRFL	91h	WRFL	PRFL	C1h	RPRFL	81h	WPRFL
Operation speed	RFH	D2h	RRFH	92h	WRFH	PRFH	C2h	RPRFH	82h	WPRFH
Acceleration rate	RUR	D3h	RRUR	93h	WRUR	PRUR	C3h	RPRUR	83h	WPRUR
Deceleration rate	RDR	D4h	RRDR	94h	WRDR	PRDR	C4h	RPRDR	84h	WPRDR
Speed magnification rate	RMG	D5h	RRMG	95h	WRMG	PRMG	C5h	RPRMG	85h	WPRMG
Ramping-down point	RDP	D6h	RRDP	96h	WRDP	PRDP	C6h	RPRDP	86h	WPRDP
Operation mode	RMD	D7h	RRMD	97h	WRMD	PRMD	C7h	RPRMD	87h	WPRMD
Circular interpolation center	RIP	D8h	RRIP	98h	WRIP	PRIP	C8h	RPRIP	88h	WPRIP
Acceleration S-curve range	RUS	D9h	RRUS	99h	WRUS	PRUS	C9h	RPRUS	89h	WPRUS
Deceleration S-curve range	RDS	DAh	RRDS	9Ah	WRDS	PRDS	CAh	RPRDS	8Ah	WPRDS
Feed amount correction speed	RFA	DBh	RRFA	9Bh	WRFA
Environment setting 1	RENV1	DCh	RRENV1	9Ch	WRENV1
Environment setting 2	RENV2	DDh	RRENV2	9Dh	WRENV2
Environment setting 3	RENV3	DEh	RRENV3	9Eh	WRENV3
Environment setting 4	RENV4	DFh	RRENV4	9Fh	WRENV4
Environment setting 5	RENV5	E0h	RRENV5	A0h	WRENV5
Environment setting 6	RENV6	E1h	RRENV6	A1h	WRENV6
Environment setting 7	RENV7	E2h	RRENV7	A2h	WRENV7
COUNTER1 (command position)	RCUN1	E3h	RRCUN1	A3h	WRCUN1
COUNTER2 (mechanical position)	RCUN2	E4h	RRCUN2	A4h	WRCUN2
COUNTER3 (deviation counter)	RCUN3	E5h	RRCUN3	A5h	WRCUN3
COUNTER4 (general purpose)	RCUN4	E6h	RRCUN4	A6h	WRCUN4
Data for comparator 1	RCMP1	E7h	RRCMP1	A7h	WRCMP1
Data for comparator 2	RCMP2	E8h	RRCMP2	A8h	WRCMP2
Data for comparator 3	RCMP3	E9h	RRCMP3	A9h	WRCMP3
Data for comparator 4	RCMP4	EAh	RRCMP4	AAh	WRCMP4
Data for comparator 5	RCMP5	EBh	RRCMP5	ABh	WRCMP5	PRCP5	CBh	RPRCP5	8Bh	WPRCP5
Event INT setting	RIRQ	ECh	RRIRQ	ACh	WRIRQ
COUNTER1 latched data	RLTC1	EDh	RRLTC1
COUNTER2 latched data	RLTC2	EEh	RRLTC2
COUNTER3 latched data	RLTC3	EFh	RRLTC3
COUNTER4 latched data	RLTC4	F0h	RRLTC4
Extension status	RSTS	F1h	RRSTS
Error INT status	REST	F2h	RREST	B2h	WREST
Event INT status	RIST	F3h	RRIST	B3h	WRIST
Positioning counter	RPLS	F4h	RRPLS
EZ counter, speed monitor	RSPD	F5h	RRSPD
Ramping-down point	RSDC	F6h	RRSDC
Circular interpolation stepping number	RCI	FCh	RRCI	BCh	WRCI	PRCI	CCh	RPRCI	8Ch	WPRCI
Circular interpolation step counter	RCIC	FDh	RRCIC
Interpolation status	RIPS	FFh	RRIPS

Reply:

Command is accepted and executed

Read:

Returns the value of the [axis] [reg] value (28-bit value)

Write:

Command cannot be processed

An error message is returned. See Error Codes

Example:

Read:

REGRDX0XDD * Returns value current in axis X, Environment setting 2 (RENV2) register

Write:

REGWRX0X9D=0x3bc5555 * Sets axis X Environment setting 2 (RENV2) register to HEX value 3bc5555.

Notes:

HEX address of the registers can be found in Appendix 1 of the PCL-6045BL manual. The table above is a copy of this table.
Some registers are read only so the write address is not given.
Some registers have preregisters, these registers have the preregister address given.

Commander Theory of Operation and Command Reference