Semantics for Command and Response Messages
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 54 of 160
Item
Description
Positive Limit
This bit indicates that the motor has attempted to travel past the pro-
grammed positive limit position. This bit remains valid until the motor is
moved within the limits or the programmed limit value is set greater than
the current position.
Negative Limit
This bit indicates that the motor has attempted to travel past the pro-
grammed negative limit position. This bit remains valid until the motor is
moved within the limits or the programmed limit value is set less than the
current position.
Following Error
Fault
This bit indicates that a following error fault has occurred. This fault
occurs when the following error, or difference between the commanded
and actual position, exceeds the programmed allowable following error.
Block Fault
Not supported.
Load Complete
This bit indicates that the command data contained in the command mes-
sage has been successfully loaded into the device.
Response Mes-
sage Type
This byte defines the Response Message Type
Response Axis
Number
These three bits report the Produced Axis Connection attribute of the Pos-
ition Controller Supervisor class. This attribute value specifies the
instance number of all of the axis objects whose data is contained in the
I/O response message. The SmartMotor is a single-axis device. There-
fore, only axis 1 is used, which can be reported as either 0 or 1.
Actual Position
This double word reflects the actual position in position units. If position
feedback is not used, this word will report the commanded position.
Commanded Pos-
ition
This double word reflects the commanded or calculated position in pos-
ition units.
Actual Velocity
This double word reflects the actual velocity in profile units.
Command Velo-
city
This double word reflects the commanded or calculated velocity in profile
units.
Torque
This double word reflects the torque.
Home Position
This double word reflects the captured home position in position units.
Index Position
This double word reflects the captured index position in position units.
Registration Pos-
ition
This double word reflects the captured registration position in position
units.
General Error
Code
This byte identifies an error has been encountered. The specific behavior
for the Position Controller Profile is summarized in Error Response Mes-
sage Type (0x14) on page 51. For a complete list of General Error codes,
see Appendix B in
THE CIP NETWORKS LIBRARY Volume 1 - Common
Industrial Protocol (CIP™)
, which is available on the ODVA.org website.
Additional Code
This byte contains an object/service-specific value that further describes
the error condition. If the responding object has no additional information
to specify, then the value 0xFF is placed within this field.
Attribute Value
This double word reflects the value of the attribute to get.
Object Attribute
to Get
This byte defines the object attribute from which to get the value.
