Moog Animatics Class 6 SmartMotor, Manual

Page: 58 / 76

Command Packet Codes to Motor Commands
Command
Code
Command
Data
Value
Event
for
update
Command Description
Smart
Motor
Command(s)
decimal,
hex
decimal,
hex
165, xA5 <value>
C/D*
Set value of negative software limit SLN=<value>
166, xA6 <value>
C/D*
Set value of positive software limit SLP=<value>
167-169,
xA7-xA9
N/A
N/A
(Reserved)
170, xAA <value>
C/D*
Clear status word 0; bit indicated by value Z(0,<value>)
171, xAB <value>
C/D*
Clear status word 1; bit indicated by value Z(1,<value>)
172, xAC <value>
C/D*
Clear status word 2; bit indicated by value Z(2,<value>)
173, xAD <value>
C/D*
Clear status word 3; bit indicated by value Z(3,<value>)
174, xAE <value>
C/D*
Clear status word 4; bit indicated by value Z(4,<value>)
175, xAF <value>
C/D*
Clear status word 5; bit indicated by value Z(5,<value>)
176, xB0 <value>
C/D*
Clear status word 6; bit indicated by value Z(6,<value>)
177-199,
xB1-xC7
N/A
N/A
(Reserved)
200, C8 <value>
C/D*
u8VarIndexSet = <value>
u8VarIndexSetActual = <value>
where <value> represents which variable is
referred to in the next variable write operation:
'a' is 0, 'b' is 1, ..., 'zzz' is 77. (Range is 0-77)
201, xC9
N/A
(Reserved)
202, xCA <value>
C/D*
u8VarLenSet = <value>
Where <value> represents quantity of variables
to write in the next variable write operation.
Range is 0-78.
203, xCB <value>
C/D*
u8ArrIndexSet = <value>
u8ArrIndexSetActual = <value>
where <value> is the array index to begin the
next array write operation at.
The ranges of <value> are as follows depending
on the type of array:
ab[]: 0-203
aw[]: 0-101
al[]: 0-50
204, xCC
N/A
(Reserved)
205, xCD <value>
C/D*
u8ArrLenSet = <value>
where <value> represents the quantity of array
variables to write in the next array write
operation.
The ranges of <value> are as follows depending
on the type of array:
ab[]: 0-204
aw[]: 0-102
al[]: 0-51
206, xCE <value>
C/D*
u8AutoIncSet = <value>
Enable increment of variable or array index on
the next write operation. Where <value> is:
0=NO, 1=YES
207, xCF <value>
C/D*
u8VarIndexGet = <value>
u8VarIndexGetActual = <value>
where <value> represents which variable is
referred to in the next variable read operation:
'a' is 0, 'b' is 1, ..., 'zzz' is 77. (Range is 0-77)
208, xD0
N/A
(Reserved)
Moog Animatics Class 6 PROFINET Guide Rev. D
Page 58 of 76