Moog SmartMotor SM34165MT-IP, Ethernet Ip Manual

Page: 53 / 160

Semantics for Command and Response Messages
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 53 of 160
Item
Cmd
Msg
Type
Description
Acceleration 0x03 This double word defines the Profile Move’s Acceleration in pro-
file units, when the Load Data /Start Profile bit transitions from
zero to one.
Deceleration 0x04 This double word defines the Profile Move’s Target Position in
profile units, when the Load Data /Start Profile bit transitions
from zero to one.
Torque 0x05 This double word is used to set the output torque, when the Load
Data /Start Profile bit transitions from zero to one. The torque
value will only take effect when in torque mode. (Position Con-
troller Object Attribute 3 = 2)
Attribute Value 0x1A–
0x1B
This double word defines the value of the attribute to set, when
the Load Data/Start Profile bit transitions from zero to one.
Object Attribute
to Get 0x1A–
0x1B
This byte defines the object attribute to get the value of and
return in the response message.
Object Attribute
to Set 0x1A–
0x1B
This byte defines the object attribute to set to the new value
defined by the Attribute Value when the Load Data/Start Profile
bit transitions from zero to one.
Response Message Semantics
This following table provides semantic information for the response messages.
Item Description
Profile in Pro-
gress This bit indicates that a profile move is in progress.
Block in Exe-
cution Not supported.
On Target Pos-
ition This bit indicates whether or not the motor is on the last targeted position.
(1 = Current position equals the last target position.)
General Fault This bit indicates the logical "or" of all fault conditions.
Current Direction This bit shows the current direction of the motor. If the motor is not mov-
ing the bit indicates the direction of the last commanded move. 0 =
reverse, negative direction; 1 = forward, positive direction.
Home Level Not supported.
Registration Level Not supported.
Enable This bit indicates the state of the enable output. A 1 indicates the enable
output is active.
Executing Block # This byte defines the currently executing block if the Block In Execution
bit is active.
Fault Input Not supported.
Forward Limit This bit indicates that the forward input is active.
Reverse Limit This bit indicates that the reverse input is active.