Position Controller Device Application Objects
Position Controller Device Application Objects
The following table shows the application objects for the Position Controller device and
describes their functions. For a full description of each object, see the corresponding "For
details..." section.
Object Class
Class
Code
Description
Required/
Optional
Instances
For details,
see...
Position Con-
troller Super-
visor
0x24 Handles errors for the
Position Controller as
well as Home and Regis-
tration inputs.
Required
1
Position Con-
troller Super-
visor (0x24) on
page 84
Position Con-
troller
0x25 Performs the control
output velocity profiling
and handles input and
output to and from the
motor drive unit, limit
switches registration
etc.
Required
1
Position Con-
troller (0x25) on
page 86
Note that these objects are the Application Objects in the overall SmartMotor device profile.
For a listing of all objects in the device profile used for the SmartMotor, see SmartMotor
Device Profile Overview on page 33.
Position Controller Device Object Model
The following figure provides a diagram of the Position Controller Device object model.
CIP Network
Required =
Message Router
Identity
Object
Network Specific
Link Object(s)
I/O
Msg*
Explicit
Msg
Optional =
Position Controller
Supervisor Object
Postion
Controller
Supervisor
Position
Controller
Object
Axis Objects
Connection
*NOTES:
Consumed Connection Path:
Position Controller Supervisor class
Consumed Command Message attribute
Produced Connection Path:
Position Controller Supervisor class
Produced Command Message attribute
Position Controller Device Object Model
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 44 of 160
