# SLMP Control and Data Blocks

Signals are combined into data blocks when transferred between the vision sensor and the Mitsubishi PLC/MC. The vision sensor supports the following data block types:

- Control
  Used to send control commands, including triggers, to the vision sensor.
- Status
  Used to indicate the status of the vision sensor.
- Input
  Used to input application data to the PLC/MC, including parameters for inspection.
- Output
  Used to output application data to the PLC/MC, including inspection results.

Data blocks contain bit-type or word-type data. Bit-type data is stored in bit registers, while word-type data is stored in word registers in the PLC/MC. Because of this, bit data is never combined with word data in a data block to ensure that these data items are addressed separately in the PLC/MC. The various data blocks also fulfill different functions where it makes sense to avoid communicating large data items that may not be needed by certain applications.

To make the setup of the vision applications easier, the vision sensor groups the various control and status bits required for the command functionality into contiguous blocks. This way, they can be processed together. You must configure the starting address and the device type for each data block when setting up the connection between the vision sensor and the Mitsubishi PLC/MC.

## SLMP Control Block

The Control block defines all bit-type signals for any action that the PLC/MC initiates. The Control block is read for bit-state changes at the rate configured with the Poll Interval (ms) property. The Control block size is 32 bits.

Byte | Bit 7 | Bit 6 | Bit 5 | Bit 4 | Bit 3 | Bit 2 | Bit 1 | Bit 0
--- | --- | --- | --- | --- | --- | --- | --- | ---
0 | Reserved | Reserved | Reserved | Execute Command | Inspection Results Ack | Reserved | Trigger | Reserved
1 | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved
2 | Reserved | Reserved | Reserved | Reserved | Reserved | Clear Error | Reserved | Reserved
3 | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved

## SLMP Status Block

The Status block indicates the current state of the vision sensor. The Status block is updated once when the protocol starts, and whenever a new status is available. The Status block size is 32 bits.

Byte | Bit 7 | Bit 6 | Bit 5 | Bit 4 | Bit 3 | Bit 2 | Bit 1 | Bit 0
0 | Online | Reserved | Reserved | Reserved | Acq Error | Reserved | Trigger Ack | Trigger Ready
1 | Error | Command Failed | Command Completed | Command Executing | Results Valid | Reserved | Inspection Completed | Reserved
2 | Reserved | Reserved | Reserved | Inspection Passed | Reserved | Reserved | Reserved | Reserved
3 | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved | Reserved

## SLMP Input Block

The Input block is an input to the vision sensor and an output from the PLC/MC. It is written whenever new inspection results are available, or when a program change occurs.

Byte | Signal
0 .. 1 | Command ID

## SLMP Output Block

The Output block is an output of the vision sensor and an input to the PLC/MC. It is read whenever the Set User Data bit changes from 0 to 1, or when a program change occurs.

Byte | Signal
0 .. 1 | Current Program ID
2 .. 3 | Error ID
4 .. 5 | Reserved
6 .. 7 | Acquisition ID
8 .. 9 | Inspection ID
10 .. 11 | Reserved
12 .. 1920 | Inspection Results

Note: For a detailed description of the signals, see Industrial Communications Signals.