Assembly and installation
50
05.00|EVG 55|en
SCHUNK Motion protocol
SCHUNK Motion protocol
The data frame of the Motion protocol always includes the following
elements:
• D-Len (1 Byte)
• Kommando Code (1 Byte)
D-Len (Data Length) specifies the number of subsequent items of us-
er 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 rele-
vant parameters required. If required, a "master command" can be
extended with a "sub-command".
All commands sent are immediately confirmed by the module with a
response (acknowledge). This response also uses the data frame de-
scribed above (D-Len, command code, any parameters). If the re-
quest has been successfully processed, D-Len always has a value that
is not equal to "0x02". If the request failed, D-Len has the value
"0x02".
NOTE
To get to know the special features of the different bus systems, see
Motion Tool
document.
5.7.2