General Command and Response Message Types
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 46 of 160
Polled I/O: Consumed General Message Format
NOTE:
32-byte Extended fields are shown with gray-highlighted rows.
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Enable
Reg.
Arm
1
Hard Stop
Smooth Stop
Direction
(Vel. mode)
Incremental
Start
Block
1
Load Data/
Start Profile
1
Block #
2
Command Axis Number
Command Message Type (1 through 7)
3
Response Axis Number
Response Message Type (1 through 7)
4–7
Command Data
3
8–11
Target Position
3
12–15
Target Velocity
3
16–20
Acceleration
3
20–23
Deceleration
3
24
Attribute to Get Axis Number
Attribute to Get Message Type (0x1A, 0x1B)
25
Reserved
26–27
Attribute to Get Number
4
28–31
Reserved
Notes:
1. Byte 0 bits 6 and 1 are not supported in Class 5 motors.
2. For Semantics, refer to Command Message Semantics on page 52.
3. Byte alignment for 4-byte values is Little Endian (Low byte, Middle Low byte, Middle High byte, High Byte).
4. Byte alignment for 2-byte values is Little Endian (Low byte, High Byte).
