Moog Animatics Class 6 SmartMotor, Manual

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Extended 16-bit command codes
Command
Code
Command
Data
Value
Event
for
update
Command Description
Smart
Motor
Command(s)
decimal,
hex
decimal,
hex
255, xFF N/A
N/A
(Error)
Not a command. This is what the command ack
will return if the command code could not be
performed successfully
C/D* Indicates that a change of command code or a change of the command data will cause
this command to occur. Values that are changed locally in a SmartMotor program will not
trigger this update. In other words, the change of data must be a change relative to the
previous network output data cycle from the PLC for the command to occur in the motor.
The above codes can be used in the original 3 word out, 7 word in data exchange, or in the
extended 12 word out, 28 word in data exchange. The high-order byte should be set to 0 when
using these in the extended packet, which has 16-bit fields for the command and reponse
codes. For example: command code 124 sets PRT=. As an 8-bit hex value, 124 is x7C; as a
16-bit value, that is x007C. The endian-ness is determined by the byte-swap configuration
parameter.
Extended 16-bit command codes
Below are additional 16-bit codes. Therefore, they require the extended data format with its
16-bit fields for command and response codes.
Command
Code
Command
Data
Value
Event
for
update
Command Description
Smart
Motor
Command(s)
decimal, hex
256, x0100 <value>
C/D*
Set variable a a=<value>
257, x0101 <value>
C/D*
Set variable b b=<value>
258, x0102 <value>
C/D*
Set variable c c=<value>
259, x0103 <value>
C/D*
Set variable d d=<value>
260, x0104 <value>
C/D*
Set variable e e=<value>
261, x0105 <value>
C/D*
Set variable f f=<value>
262, x0106 <value>
C/D*
Set variable g g=<value>
263, x0107 <value>
C/D*
Set variable h h=<value>
264, x0108 <value>
C/D*
Set variable i i=<value>
265, x0109 <value>
C/D*
Set variable j j=<value>
266, x010A <value>
C/D*
Set variable k k=<value>
267, x010B <value>
C/D*
Set variable l l=<value>
268, x010C <value>
C/D*
Set variable m m=<value>
269, x010D <value>
C/D*
Set variable n n=<value>
270, x010E <value>
C/D*
Set variable o o=<value>
271, x010F <value>
C/D*
Set variable p p=<value>
272, x0110 <value>
C/D*
Set variable q q=<value>
273, x0111 <value>
C/D*
Set variable r r=<value>
274, x0112 <value>
C/D*
Set variable s s=<value>
Moog Animatics Class 6 PROFINET Guide Rev. D
Page 61 of 76