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65
REFERENCE 7
C
OMMAND
M
ODE
D
ATA
F
ORMAT
Command Bits Must Transition
The command bits are split between two, 16 bit words, CMD_word0 and CMD_word1. Only one bit in
CMD_word0 can make a 0
1 transition at a time.
Output Data Format
The following table shows the format of the output network data words when writing command data to the
SD17060E-K or SD31045E-K.
Figure R7.1 Command Data Format
This chapter covers the format of the Network Output Data used to command the
SD17060E-K or the SD31045E-K and the format of the Network Input Data that con-
tains the responses from the device. The parameter names of the input and output
data are defined by the device ESI file. The size of each data element is also
defined by the ESI file.
Commands are only accepted when a command bit makes a 0
1 transition. The
easiest way to do this is to write a value of zero into the CMD_word0 before writ-
ing the next command.
ESI File
Name
Data
Size
Function
CMD_word0
UINT
Command Word 0
CMD_word1
UINT
Command Word 1
Position
DINT
Command Parameters
Word meaning depends
on the command set
to the Networked Driver
Velocity
UDINT
Acceleration
UINT
Deceleration
UINT
Motor_Current
UINT
Jerk
UINT
