ACI Reference
9.1
Overview
The AGVS Control Interface (ACI) is an interface that allows a Host computer to give orders to and
collect information from an AGV system.
The ACI software is resident in the software of the System Managers, which makes it possible to
easily subordinate the AGV system to any customer selected Host computer.
The division of the tasks between the Host and the Master can vary in different systems, depend-
ing on to what extent the Host is involved in the details of the material flow in the system.
The Master has the following responsibilities:
l Accept transport requests.
l Maintain an order queue for the transport requests.
l Allocate vehicles to the different transports requests.
l Handle the transport sequence.
l Request for parameters when needed.
l Respond to parameter contents requests.
The AGVS Control Interface gives the Host the following possibilities:
l Start an order in the Master.
l Delete an order in the Master.
l Check status of an order.
l Delete and update parameters in the Master Order Manager.
l Release blocking for lost vehicles.
l Cancel a vehicle
9.2
OM Messages
To make it possible to divide tasks between the Master Controller and a Host computer a number
of messages must be exchanged between these units. The messages are described below.
9.3
Order Initiate Message – q
To start an order from the Host, an order initiate message is sent to the Stationary system. The
message can be of two formats, see (a) and (b) below. 99 priority levels for the orders are also sup-
ported.
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The message format (b) makes it possible for the Master to recognise identical ‘q-messages’, and
ignore them, for example when the Host has resent a message because of no received answer
from the Master (the message was set in a queue). By giving each ‘q-message’ an individual ‘ikey’
parameter the Master ignores multiple messages, as only messages with a unique ‘ikey’ are
allowed in the order queue.
Message:
(a):
q , trp str, [ pri, [p0 [p31] ] ]
(b):
q , trp str, [ pri, code, ikey, [p0
[p31] ] ]
q
Message
type
Description
trp str
1–255
Transport structure. Specifies the transport structure to be star-
ted.
pri
format (a):
$00 no priority
$01–$63 priority levels. $63 (99) has the highest priority
format (b):
$80 no priority
$81–$E3 priority levels. $E3 (227) has the highest priority
code
0-$FFFF
Use message format (b) with ‘ikey’ parameter.
0
Default value
$0001
”ikey” value included, format (b)
$0002
Start order with OM trace enabled
$0004
Start order in Debug mode
ikey
0
Use format (b) without the ‘ikey’ function, which might cause mul-
tiple orders from the same ‘q’ message.
1–$FFFF
Key value used in message format b). This key value is a user iden-
tification of the order. The system will only accept orders with a
unique ‘ikey’.
P[0–31] val
0–$FFFF
Parameter values. Up to 32 values can be given. They will be placed
in the first entries in the parameter area
Format (a):
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Format (b):
9.4
Order Acknowledge Message – b
This message is sent at eight different occasions:
I. as a response on the order start (‘q-message’)
II. as an acknowledge to a delete order (‘n-message’)
III. as an acknowledge to a parameter update (‘m-message’)
IV. when an order is finished
V. when specified in the transport structure
VI. to indicate a fatal error in an order
VII. as an acknowledge to a change order instance priority (‘m-message’)
VIII. as statistic information of carrier / order connection events
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Also the ‘b-message’ has two different formats, (a) and (b), depending on which ‘q-message’
format that is used.
Message:
(a):
b , index, trp str, status, par no
(b):
b , index, trp str, status, par no, spare, ikey
b
Message
type
Description
Index
0–MAXORD
Index in the order queue of the Master
FFFF(hex)
When parameters in the input message, to which the ‘b-message’ is
the answer, is invalid. Further information about the erroneous
parameters is given by the value of the status parameter.
Trp str
1–255
Transport structure. Corresponds to the transport structure on
which the order works.
0
When parameters in the input message, to which the ‘b-message’ is
the answer, is invalid.
Status
see specification on next page.
Par no 0–31
Index for the first parameter being updated, if applicable.
FF (hex)
If no parameter is involved it has the value FF.
Spare
0
Spare parameter to be used in message format (b).
Ikey
1–$FFFF
User identification code referring to ‘q-message’.
Value
Type
Status, by Value
0
I
order rejected
1
I
order acknowledge, input in queue
2
VIII
allocation of carrier *
3
IV
order finished
4
II
order cancelled
5
not implemented
6
not implemented
7
III
parameter acknowledge
8
I
invalid number of parameters
9
I
priority error
10
I
invalid structure
10
III
invalid structure
11
I
order buffer full
12
not implemented
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Value
Type
Status, by Value
13
not implemented
14
II
not activated index
14
III
not activated index
15
I
parameter number too high for this
15
II
parameter number too high for this
15
III
parameter number too high for this
16
I
not allowed to update
16
III
not allowed to update
17
VI
fatal error, order execution stopped
18
III
parameter deleted
19
V
parameter value accepted
20
V
parameter value not accepted
21
VIII
order has lost the carrier *
22
II
carrier number error
23
V
input release
24
II
invalid index number
24
III
invalid index number
25
II
cancel acknowledge
26
I
missing parameters
27
I
duplicated IKEY
28
I
invalid format code
35
VII
change order instance priority acknowledge
37
VIII
connection of carrier – order *
39
VIII
CONNECT OK, poffs=AGV id
40
VIII
CONNECT failed, poffs=AGV id
*: These are special messages only sent if enabled in the general parameters of the System Applic-
ation Designer, Carrier manager part. Refer. to the Carrier Manager Reference manual.
Value
Type
Status, by Type
5
not implemented
6
not implemented
12
not implemented
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Value
Type
Status, by Type
13
not implemented
0
I
order rejected
1
I
order acknowledge, input in queue
8
I
invalid number of parameters
9
I
priority error
10
I
invalid structure
11
I
order buffer full
15
I
parameter number too high for this
16
I
not allowed to update
26
I
missing parameters
27
I
duplicated IKEY
28
I
invalid format code
4
II
order cancelled
14
II
not activated index
15
II
parameter number too high for this
22
II
carrier number error
24
II
invalid index number
25
II
cancel acknowledge
7
III
parameter acknowledge
10
III
invalid structure
14
III
not activated index
15
III
parameter number too high for this
16
III
not allowed to update
18
III
parameter deleted
24
III
invalid index number
3
IV
order finished
39
VIII
CONNECT OK, poffs=AGV id
40
VIII
CONNECT failed, poffs=AGV id
19
V
parameter value accepted
20
V
parameter value not accepted
23
V
input release
17
VI
fatal error, order execution stopped
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Value
Type
Status, by Type
35
VII
change order instance priority acknowledge
2
VIII
allocation of carrier *
21
VIII
order has lost the carrier *
37
VIII
connection of carrier – order *
*: These are special messages only sent if enabled in the general parameters of the System Applic-
ation Designer, Carrier manager part. Refer. to the Carrier Manager Reference manual.
9.5
Order Status Request Message – j (limited)
To get to know the status of an order or a vehicle, a ‘j-message’ is sent from the Host computer to
the Master. This message is either limited, or extended to handle all different types of order
status request functions. If the limited format of the ‘j-message’ is used, the old (limited) order
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status message (‘s-message’) will be returned, while the new ‘o-message’ (and optionally the ‘w-
message’) is the response of the extended ‘j-message’.
Each transport request (order), acknowledged by the Master, is given a number, order index. If
the order index, or the ID number of the vehicle (carrier number), is invalid, the Master instead
replies with a ‘b-message’, as there is a fatal error in the order (see 1.3.2.2, occasion 5).
Message:
(a):
j , index
(b):
j , 0000, car no
j
Message
type
Description
index
0–MAXORD
Index in the order queue of the Master.
car no
1–255
Carrier number, vehicle identity
Response:
If the request is OK an ‘s’ message will be sent back. An invalid request can return
the following ‘b’ messages.
code
type
text
24 /$18
NAK
invalid index
22 /$16
NAK
invalid carrier number
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9.6
Order Status Request Message – ‘j’ (extended)
Poll type
Parameters
Sort
Numerical interval
Item offset
N[IX]
Number of items
Local parameter flags
Trigger
Item offset
N[STID] (*
Number of items
(ASCEND)
Local parameter flags
EXT
[ IO type (0 myself) ]
[ Logical unit/line (0 all)]
[ Logical line unit id (0 all)]
INT
[ MODULE (0 all)]
[ TYPE (0 all) ]
Used indexes
Item offset
N[STID] (*
Number of items
(ASCEND)
Local parameter flags
Carrier id list
Item offset (cid)
N[CID]
Number of items
Local parameter flags
Item type, carrier type
1-8
all
0
Priority orders
Item offset
PRI[99-> 0]
Number of items
Local parameter flags
Item type, priority
1-99
all
0
Order state
Item offset
N[STID] (*
Number of items
(ASCEND)
Local parameter flags
Item type, order state
1-17
(* STID Order start time.
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In situations where more than one item is requested, an end of item stream message will be
returned when all items are sent. The system will cache up to 16 requests. Any more requests will
be rejected with an error code.
Priority orders are sorted with level 99 first and level 0 last, and within each level:
l Indexes with carrier allocated in time order.
l Indexes requesting carriers in request time order.
The extended order status request message has the following formats. The new order status
request function is backward compatible with the old version. If the old format of the request mes-
sage ‘j’ is used, the old order status message ‘s’ will be returned, while the new ‘o’ message (and
optionally the ‘w’ message) is the response of the extended ‘j’ message.
Message:
a)
j, magic, sp, itmc, itemo, itemn, lpflg
b)
j, magic, sp, itmc, itemo, itemn, lpflg, ut, lline, lunit
c)
j, magic, sp, itmc, itemo, itemn, lpflg, module, mtype
d)
j, magic, sp, itmc, itemo, itemn, lpflg, itemt
j
Message
type
Description
magic
0 – $7FFF
Message magic returned in the response message. This can be
used by HOST programmer to connect a status request with a
received status message.
sp
0
Spare parameter.
Itemc
0 – 5
Item code to select requested order status.
Item
Format
Function
0
a
Numerical interval
1
b
External triggers
2
c
Internal triggers
3
a
Used indexes
4
d
Carrier number list
5
d
Priority orders
6
d
Order state
itemo
0 – $FFFF
Item offset.
For each item code a number of order instances match a specific request criterion. The order
instances that match a specific item code forms an item group. Within the group the items will be
sorted. The sort function differs between different item codes. When a group request is given,
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the item offset defines which item in the group that will be the first one to be sent in the response
stream.
Itemn
1 – $FFFF
Number of items requested from an item group.
lpflg
$0 – $FFFFFFFF
Local parameter flags, used for requesting local parameters to the requested order. Each bit in
the long word represents one local parameter. Setting bit 0 requests local parameter 0 in the
response message. Setting bit 31 requests local parameter 31 in the response. Local parameters
are returned in the standard ‘w-message’.
itemt
4 – 5
Item type code. This type code is individual for each item code.
Itemc
Itemt
Function
4
1–8
Selected carrier type
– 1
All carrier types
5
1–99
Selected order priority
– 1
All order priorities
6
1–17
Selected order priority
ut
Unit type.
Defines which unit types that should be selected in the order poll question. The following types are
defined so far:
IO
IO unit type
0
Requester (myself)
2
DEBUG
3
ACI unit (HOST)
4
CWay
MULTD line (OKB)
lline
Logical line.
This is the logical line number.
lunit
This parameter is only valid for multidrop lines and defines the ID number of the requested unit.
module
Internal trigger module from the Master Controller itself. Valid internal modules are:
$02
SYSCTRL
SysGo order
$33
CM
CarWash, CarCharge orders
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$2C
IH
Input started orders
$2F
OM
Sfork started orders
mtype
(Not used)
Format:
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Message sequence:
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9.7
Order Status Message – s (limited)
This limited ‘s-message’ is the answer from the Master to an order status request of type limited
‘j-message’ from the Host computer. It contains the status of an order in the order queue.
The ‘s-message’ can also be sent spontaneously to the Host computer, if so defined in a transport
structure.
Message:
s, index, trp str, order status, magic, magic_2, car no, spare, car stat,
car stn,
[ [ magic_3] [no_of_lp, lp[0] …. lp[n] ] ] 1.
s
Message
type
Description
index
0–MAXORD
Index in the order queue of the Master.
FFFF (hex)
Filler value when the index value is not valid in the ‘s-message’.
trp str
1–255
Transport structure.
Corresponds to the transport structure number in the Master.
0
Filler value when the transport structure value is not valid in the ‘s-
message’.
order status
Defines the status of the order. An order can be in several dif-
ferent states but most of them are only transitory.
1
not used
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s
Message
type
Description
2
pending, waiting for a parameter, input etc.
3
Transitory
4
Transitory
5
waiting for a vehicle
6
Transitory
7
move vehicle
FF (hex)
Filler value when the order status value is not valid in the ‘s-mes-
sage’.
magic
15 bits value, user defined
FFFF (hex)
Filler value when the magic value is not valid in the ‘s-message’.
magic_2
15 bits value, user defined
FFFF (hex)
Filler value when the magic_2 value is not valid in the ‘s-message’.
car no
1–255
Carrier number, vehicle identity.
0
Filler value when the carrier number is not valid in the ‘s-message’
spare
Spare parameter in message, set to 0.
car stat
0000–$FFFF
Carrier status value.
$FFFF
Filler value when the carrier status value is not valid in the ‘s-mes-
sage’.
car stn
Current destination of the carrier
0
Filler value when no carrier is connected.
magic_3
15 bits value, user defined. Omitted if not defined in the Tx_s mes-
sage instruction.
no_of_lp1
0-31
Number of local parameters to follow. 1
Lp[0 … n]1
0-$FFFF
Valu of local parameter. For an empty / invalid local parameter the
value reported is $FFFF. Note that $FFFF may also be a valid value
for a local parameter. 1
1 Only available when trigged from OMI Tx_s, see Tx_s – Send status message, page 205
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Format:
9.8
Order Status Message – o (extended)
This extended message format contains more status parameters of an order in the order queue.
The message is the answer the extended order status request
(‘j-message).
Message:
o, magic, sp, itemc, oix, sp1, stime, strp, trp, row, olist, ostate,
ostatus, opri, trig, trigp0, trigp1, cid, main stat, cstatus, move
state, pstn, dstn
o
Message
type
Description
magic
0 − $7FFF
Message magic copied from the request message. This can be used
by HOST programmer to connect a received status message with
status request.
sp1
0
Spare parameter.
itemc
0 − 5
Item code copied from the request message.
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Item
Function
0
Numerical interval
1
External triggers
2
Internal triggers
3
Used indexes
4
Carrier number list
5
Priority orders
6
Order state
$7E
Abort
$7F
End of message stream
$80
General error
$81
Invalid item
$82
Missing argument
$83
This unit has one request pending
$84
Request buffer is full
oix
0–MAXORD
Order index in the order queue.
sp1
0000
Spare parameter.
stime
0–$FFFFFFFF
Order start time. Calculated as Unix 1970 seconds ‘tick’.
strp
1–255
Transport structure, used for starting this order.
trp
1–255
Current transport structure for this order.
row
1–255
Current transport structure row for this order.
olist
1–10
Order list monitor.
1
Free instance
2
Pending list
3
Active list
4
Carrier move request list
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5
Carrier request list
6
Carrier release list
7
Carrier move list
8
Calloc request list
9
CM commands list
10
OM debug list
ostate
0–255
Current state for this order.
0
Empty instance
1
Function evaluated
2
Function not evaluated
3
-
4
Pending parameter request
5
Delayed
6
Break evaluation
7
Terminate order
8
Cancelled
9
Cancel termination
10
Retry
11
Input poll request
12
System function request
13
Explicit parameter request
14
PLC request
15
Bar Code request
16
Evaluated by debugger
17
Waiting for a queue
18
Waiting for ‘child’ termination
Note! For ‘ostate’ = 0 no other order related parameters are valid.
ostatus
0–255
Current status for this order.
0
TRUE
1
FALSE
2
ERROR
opri
0–8
Order priority
trig
0–255
Order trigger.
0
INTERNAL TRIGGER
2
External trigger , DEBUG
3
-"-
, ACI
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4
-"-
, CWay
11
-"-
, MULTD
trig_p0
0–255
Order trigger parameter 0.
For trigger = = 0 –> ID of starter process.
For trigger ≠ 0 –> logical line for trigger.
trig_p1
0–255
Order trigger parameter 1.
For trigger = = 0 –> starter parameter.
For trigger ≠ 0 –> in MULTD case this is the unit ID on the multidrop
line.
cid
0–255
Carrier ID for allocated or connected carrier.
Note! For cid == 0 no other carrier related parameters are valid
main stat
0–7
Carrier Manager Main status.
0
Cancelled
1
Cancelled, order connection
2
Free
3
Allocated to order
4
Active
5
Connected to order
6
Unknown for system
cstatus
0–$FFFF
PLC Status for current allocated or connected carrier.
move state
0–7
Carrier Manager Move state.
0
Move state is Unknown
1
Stands on Station/point
2
Moving to Entry
3
Moving in to Station/point
4
Moving to Exit
5
Moving to required Exit
6
Moving to Escape
7
Waiting for command
pstn
Previous station (from) for a connected or allocated carrier.
dstn
Final destination (to) for a connected or allocated carrier.
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9.9
Delete Order Message – n
It is always possible to delete an order. There are two possibilities, either to use the order index,
or to use the carrier number. In the latter case it is not necessary to specify the order index. Any
order, to which the vehicle with the certain carrier number is allocated, will be cancelled.
Message:
(a):
n, index
(b):
n, 0000, car no
n
Message
type
Description
index
0–MAXORD
Index in the order queue of the Master.
car no
1–255
Carrier number, vehicle identity
Remark: The value of the order index has no importance when the carrier number is given at
order deletion.
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9.10
Local Parameter Message – m
To each order, a number of parameters can be given. The ‘m-message’ makes it possible to insert,
delete or read parameters connected to an order (for example, the pick-up or delivery position).
9.10.1
Insert Local Parameter
Message:
m , index, function, par no, p0 val,
[p[1]
p[31] ]
m
Message
type
Description
index
0–MAXORD
Index in the order queue of the Master.
function
00
Spontaneous update. This event mask does not terminate a delay.
01
Requested parameter update. This event mask terminates a delay.
par no
0–31
Index for the first parameter being updated.
p0 val
Parameter
value.
p1–p31 val
Optional para-
meters.
Given parameters must be consecutive.
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9.10.2
Delete Local Parameter
Message:
m , index, function, par no
m
Message
type
Description
index
0–MAXORD
Index in the order queue of the Master.
function
02
Delete parameter.
par no
0–31
Parameter number in the parameter area for the given index.
9.10.3
Read Local Parameter
Message:
m , index, function, p0 no, p1 no, p2 no, p3 no, p4 no
m
Message
type
Description
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index
0–MAXORD
Index in the order queue of the Master.
function
03
Read parameter area.
p0–p4 no
0–31
Parameter number in the parameter area for the given index. It is
possible to request up to five parameter values from the specified
parameter area.
The reply to the Read parameter message is the w-message.
9.10.4
Change Order Priority
In addition to setting the priority of a new order, it is also possible to change an already existing
order priority from an external unit, such as a host. This is accomplished by a ‘m’ message.
To change the order priority with an ACI message, the ‘m’ message with a new function is used. As
the acknowledge message, the ‘b’ message is used with the code set to b_PRIACK (35) and the
”poffs” parameter set to requested priority. As a negative acknowledge, the code is set to b_
PRIER (9).
Message:
m , index, function, prio
m
Message type
Description
index
0–MAXORD
Index in the order queue of the Master.
function
04
Change order priority.
Prio
0–99
New priority for selected order instance.
The reply to the change order instance priority is the b-message, code 35.
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9.10.5
Connect Allocated Vehicle
Using the 'm' message, the HOST may decide to pre connect an allocated vehicle to the order.
The following checks are performed on reception of an 'm' message with function code 5:
l If the order has the given AGV allocated or connected, the status reply message will indicate
CONNECT OK = 39
l If any of the conditions above is not fulfilled, the status reply message will indicate CONNECT
FAIL = 40.
Message:
m, index, function, AGVId
m
Message type
Description
index
0–MAXORD
Index in the order queue of the Master.
function
05
Change order priority.
AGVId
0–99
Agv ID to connect.
The reply to the connect allocated vehicle is the b-message, code 39 or 40.
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9.11
Parameter Area Contents Message – w
This is the answer from the Master to the ‘m-message’ (Read parameter). By the ‘w-message’ the
current parameter values are sent to the Host.
Message:
w, index, nopar, p0 no, p1 no, p2 no, p3 no, p4 no, p0 val, p1 val, p2 val,
p3 val, p4 val
w
Message
type
Description
index
0–MAXORD
Index in the order queue of the Master.
nopar
Number of parameters, always 5
p0–p4 no
0–31
Parameter number. Parameter number in the parameter area for
the given index. The maximum number of parameters that can be
polled in one message is five, but it is possible to ask for fewer. Para-
meter number and value for not polled parameters will be $FF.
p0–p4 val
0–$FFFF
Valu of local parameter. For an empty / invalid local parameter the
value reported is $FFFF. Note that $FFFF may also be a valid value
for a local parameter.
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9.12
Parameter Request Message – r
The ‘r-message’ is sent from the Master, when the Master does not know a parameter that is
needed in the transport structure. For more information, see section Request and Reply Message,
page 32.
Message:
r , index, par no
r
Message type Description
index
0–MAXORD
Index in the order queue of the Master.
par no
0–31
Parameter number in the parameter area.
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9.13
Global Parameter Command – g
This message is used when the global parameter area in the System Manager is to be accessed.
The message is used both for read and write access.
Message:
g, magic, code, par_num, par_ix, [ p0, [p1, [ [ [ ... p15] ] ]
g
Message
type
Description
magic
0–$7FFF
Message magic, echoed back in the response message.
code
1–2
Access function:
1
Read global parameters.
2
Write global parameters.
par_num
1–16
Number of parameters to access.
par_ix
0 - 10000
Global parameter number in message position p0.
p0 – p15
Global parameter values to write. Note! Only used when writing (=
code 2).
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See Global Parameter Status - p, page 279 for the response message.
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9.14
Global Parameter Status - p
This message is used as a response message to the global parameter command message (‘g-mes-
sage’). The ‘p-message’ is used both for read and write access response.
Message:
p, magic, code, par_num, par_ix, [p0, [p1, [ [ [… p15] ] ]
p
Message
type
Description
magic
0–$7FFF
Message magic, echoed back from command message.
code
1–4
Access function:
1
Read global parameters ACK.
2
Write global parameters ACK.
3
Read global parameters NAK.
4
Write global parameters NAK.
par_num
1–16.
Number of parameters to access.
par_ix
0–10000
Global parameter number in message position p0.
p0–p15
Global parameters to read.
Note! Only used when reading (= code 1 or 3).
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9.15
OM-PLC Read/Write
This message controls the OM-PLC transfer function. The transfer function makes it possible for
the master to read data stored in the AGV, and also to write data to the AGV.
The AGV keeps this data in an OM PLC memory block, accessible from the PLC.
It is also possible to transfer data between a Host and the AGV.
9.15.1
Multi byte OM-PLC write
In multi-byte OM-PLC write, a block of bytes is written to the AGV in one message, type '>'. The
message format is b) and the code is 6. The AGV will respond with a type '<' message.
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Warning: When write requests are generated at a high rate, there is risk for com-
munication congestion.
9.15.2
Multi byte OM-PLC read
A multi-byte OM-PLC read is a message that requests bytes from the AGV. The read request is a
message of type '>', format b) and the code is 5.
The AGV will respond with one or more reply messages, type '<', each with up to 18 bytes of data.
Each of the reply message has a sequence number 0,1,... The first byte in each reply message is
pointed out by the ‘plc’ value.
Warning: As one read request may generate many response messages from the AGV,
there is risk for communication congestion. Try to limit the frequency and requested num-
ber of bytes for the read requests.
9.15.3
Magic in OM-PLC messages
When an OM-PLC request is sent from the Host the magic in the message is used to identify which
ACI LUnit is used for the Host communication.
The magic should be $E000 + (LUnit of the ACI line). In most cases that is $E001.
It is also possible for magic to be $E000, in which case the reply is sent to all Host units.
To be able to identify a reply to a request, the parameter s3 could be used in multi byte transfer.
9.15.4
OM to PLC Message, Type ‘>’
Function:
Messages from the System Manager, or Host, to the AGV, used for
both read and write command. It is possible to do one or two word
read/write operations in the same message, format (a). It is also
possible to do multi byte transfer, format (b).
Tx:
System Manager or Host to AGV.
Format:
a) '>', res(1), carid(1), magic(2), c1(1), s1(1), om1(1), plc1(1),
par1(2), [c2(1), s2(1), om2(1), plc2(1), par2(2)]
b) '>', res(1), carid(1), magic(2), c(1), s3(1), plc(2), num(1),
sp(1), [ byte1, byte2, ...byte80 ]
Parameters:
a)
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'>'
$3E
message type,
res
00-07
reserved.
carid
1-MAXCAR
carrier id.
magic
1-$FFFF
$E000-$E00F
$8A00 - $8A0F
message magic.
For ACI.
For Cway Custom.
c1
00-$FF
code for parameter 1.
01
read parameter 1.
02
write parameter 1.
s1
00
save 1, will be included in reply.
om1
00-31
parameter offset from OM for
parameter 1, will be included in
reply.
plc1
00-119
parameter offset in PLC block for
parameter 1. This is a WORD off-
set.
par1
0000-$FFFF
parameter 1 for write, in case
read the value is not defined.
c2
00-$FF
code for parameter 2.
01
read parameter 2.
02
write parameter 2.
s2
00
save 2, will be included in reply.
om2
00-31
parameter offset from OM for
parameter 2, will be included in
reply.
plc2
00-119
parameter offset in PLC block for
parameter 2. This is a WORD off-
set.
par2
0000-$FFFF
parameter 2 for write, in case
read the value is not defined.
b) Multi byte transfer.
'>'
$3E
message type,
res
00-07
reserved.
carid
1-MAXCAR
carrier id.
magic
1-$FFFF
$E000-$E00F
$8A00 - $8A0F
message magic.
For ACI.
For Cway Custom.
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c
00-$FF
code for multi byte.
05
read multi byte.
06
write multi byte.
s3
00-$FF
save 3, will be included in reply.
plc
00-239
byte offset in PLC block for first
byte in this message.
num
1-240
total number of bytes to read.
1-80
total number of bytes to write.
sp
0
spare.
bytex
00-$FF
value in write multi byte.
Reaction:
Answer with a PLC to OM message, type '<', indicating ACK or NAK.
Note:
In the VMC500/CVC600/CVC700 OM-PLC block, Word 1 is accessed
with parameter offset, PLC1 (a) or PLC2 (a) = 0. For multi byte trans-
fer, Byte 1 is accessed with byte offset, PLC (b) = 0.
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9.15.5
PLC to OM Message, Type ‘<’
Function:
Messages from the AGV PLC to the master, used for both read
reply and ACK of write command.
Tx:
AGV to System Manager or Host.
Format:
a) '<', res(1), carid(1), magic(2), c1(1), s1(1), om1(1), plc1(1),
par1(2), [c2(1), s2(1), om2(1), plc2(1), par2(2)]
b) '<', res(1), carid(1), magic(2), c(1), s3(1), plc(2), seq(1), last(1), [
byte1, byte2, ...byte18 ]
Parameters:
a)
'<'
$3C
message type,
res
00-07
reserved.
carid
1-MAXCAR
carrier id.
magic
1-$FFFF
$E000-$E00F
$8A00 - $8A0F
message magic.
For ACI.
For Cway Custom.
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c1
00-$FF
code for parameter 1.
1
ACK read parameter 1.
2
ACK write parameter 1.
3
NAK read parameter 1.
4
ACK write parameter 1.
s1
00
save 1, copied from request mes-
sage.
om1
00-31
parameter offset from OM for
parameter 2, copied from
request message.
plc1
00-119
parameter offset in PLC block for
parameter 1.
par1
0000-$FFFF
parameter 1 read reply.
c2
00-$FF
code for parameter 2.
1
OM: ACK read parameter 2.
2
OM: ACK write parameter 2.
3
OM: NAK read parameter 2.
4
OM: ACK write parameter 2.
s2
00
save 2, copied from request mes-
sage.
om2
00-31
parameter offset from OM for
parameter 2, copied from
request message.
plc2
00-119
parameter offset in PLC block for
parameter 2.
par2
0000-$FFFF
parameter 2 read reply.
b) Multi byte transfer.
'<'
$3C
message type,
res
00-07
reserved.
carid
1-MAXCAR
carrier id.
magic
1-$FFFF
$E000-$E00F
$8A00 - $8A0F
message magic.
For ACI.
For Cway Custom.
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c
00-$FF
code for multi byte.
5
ACK read multi byte.
6
ACK write multi byte.
7
NAK read multi byte.
8
NAK write multi byte.
s3
00-$FF
save, code copied from OM/PLC
message.
plc
00-239
byte offset in PLC block for first
byte in this message.
seq
0-13
message sequence number.
Normally ‘0’.
last
0-13
highest message sequence num-
ber.
This is the message sequence
number of the last message in a
reply. Normally ‘0’.
bytex
00-$FF
value in read multi byte reply.
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