FANUC Robotics America GFK-1541B User Manual
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Establish Write Channel (2004)
The Establish Write Channel command requests that a channel be connected to a remote PLC and
that data from the local PLC be transferred (periodically) to the remote PLC. The Command
Block specifies the period, the number of writes to the server (remote PLC) to perform, and the
timeout allowed in waiting for each transfer to complete. The first write is performed
immediately, regardless of the period specified.
that data from the local PLC be transferred (periodically) to the remote PLC. The Command
Block specifies the period, the number of writes to the server (remote PLC) to perform, and the
timeout allowed in waiting for each transfer to complete. The first write is performed
immediately, regardless of the period specified.
Example 1 Command Block–Basic Example
Establish a write channel (Channel 6) to a remote PLC at IP address 10.0.0.1. Return the
COMMREQ Status word to %R10. Write local PLC registers %R50–%R57 to remote PLC
registers %R100–%R107. Repeat the write indefinitely, once every 7 seconds, with a timeout of
500 ms for each write.
COMMREQ Status word to %R10. Write local PLC registers %R50–%R57 to remote PLC
registers %R100–%R107. Repeat the write indefinitely, once every 7 seconds, with a timeout of
500 ms for each write.
Dec (Hex)
Word 1
00017 (0011)
Length of Channel command Data Block (17–25 words)
Word 2
00000 (0000)
Always 0 (no-wait mode request)
Word 3
00008 (0008)
Memory type of CRS word (%R)
Word 4
00009 (0009)
CRS word address minus 1 (%R10) *
Word 5
00000 (0000)
Reserved
Word 6
00000 (0000)
Reserved
Word 7
02004 (07D4)
Establish Write Channel command number
Word 8
00006 (0006)
Channel number (6)
Word 9
00000 (0000)
Number of write repetitions (write indefinitely)
Word 10
00003 (0003)
Time unit for write period (3=seconds)
Word 11
00007 (0007)
Number of time units for write period (every 7 seconds)
Word 12
00050 (0032)
Timeout for each write (500 ms)
Word 13
00008 (0008)
Local PLC - Memory type from which to write data (%R)
Word 14
00050 (0032)
Local PLC - Starting address from which to write data (%R50)
Word 15
00008 (0008)
Remote PLC - Memory type at which to store data (%R)
Word 16
00100 (0064)
Remote PLC - Starting address at which to store data
(%R100)
Word 17
00008 (0008)
Remote PLC - Number of memory units (8 registers)
Word 18
00001 (0001)
Remote PLC - Network Address type (IP address)
Word 19
00004 (0004)
Remote PLC - Network Address length in words (4)
Word 20
00010 (000A)
Remote PLC - Register 1 of IP address (10)
Word 21
00000 (0000)
Remote PLC - Register 2 of IP address (0)
Word 22
00000 (0000)
Remote PLC - Register 3 of IP address (0)
Word 23
00001 (0001)
Remote PLC - Register 4 of IP address (1)
Word 24–27
Remote PLC - Program Name (needed for access to remote
%P or %L) (zero-terminated and padded)
Word 28–31
Remote PLC - Program Block (needed for access to remote
%L) (zero-terminated and padded)
* Word 4 (CRS word address) is the only zero-based address in the Command Block. Only this
value requires subtracting 1 from the intended address.
(Word 7) Channel Command Number:
Word 7 requests that a write channel be set up. If the
command is processed successfully, it will result in attempting the specified number of transfers
from the client to the server.
from the client to the server.
(Word 8) Channel Number:
Word 8 specifies the channel to be used for the write. This value
must be in the range of 1–32 for Series 90-70 PLCs and 1–16 for Series 90-30 PLCs. If the
channel number is out of range, a command error indication will be placed in the COMMREQ
channel number is out of range, a command error indication will be placed in the COMMREQ
The term local PLC is
used here to identify the
client PLC—the PLC
that initiates the
communications
request.
used here to identify the
client PLC—the PLC
that initiates the
communications
request.
The term remote PLC is
used here to identify the
server PLC—the PLC
that responds to the
communications
request.
used here to identify the
server PLC—the PLC
that responds to the
communications
request.
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