Assembly and installation
02.00 | PW V6 | Assembly and operating manual | en | 389670
43
5.10.3 SCHUNK Motion protocol
Schunk Motion Protocol
The data frame of the Motion protocol always includes the
following elements:
• D-Len (1 byte)
• Command code (1 byte)
D-Len (Data Length) specifies the number of subsequent items of
user data including the command byte. The data frame consists of
one byte, therefore a Motion protocol message can transfer a
maximum of 255 data bytes.
The D-Len byte is always followed by the command code,
consisting of one byte. If necessary, the command code is followed
by the relevant parameters that are required. If required, a
"master command" can be extended with a "sub-command".
All commands sent are immediately confirmed by the product with
a response (acknowledge). This response also uses the data frame
described above (D-Len, command code, any parameters). If the
request has been processed successfully, D-Len always has a value
that is not equal to "0x02". If the request fails, D-Len will have the
value "0x02".
NOTE
For specific features of the different bus systems, please consult
the software manual
Motion control
.
