SCHUNK Motion protocol
62
05/STM-48V/en/2011-04-01/CW
Command Code:
0x91
Description:
The module is braked and stopped in the current
position.
Parameters
(Master ► Slave)
:
None.
Response
(Slave ► Master)
:
"OK" (0x4F4B) if successful.
Miscellaneous:
Spontaneous message is possible.
D-Len
Cmd
Param
Meaning
M ► S
0x01
0x91
S ► M
0x03
0xB5
0x4F 0x4B
OK
Table 30 Example for CMD STOP
Command Code:
0x90
Description:
The module is stopped as quickly as possible. If a
brake is fitted and appropriately configured, it is activated imme-
diately. The motor phases are short circuited.
Parameters
(Master ► Slave)
:
None.
Response
(Slave ► Master)
:
Error message "ERROR FAST
STOP" is triggered.
Miscellaneous:
Can only be reset by "CMD ACK".
D-Len
Cmd
Param
Meaning
M ► S
0x01
0x90
S ► M
0x03
0x88
0xD9
fast stop executed
Table 31 Example for CMD FAST STOP
Command Code:
0x8B
Description:
Acknowledgement of an error message.
Parameters
(Master ► Slave)
:
None.
Response
(Slave ► Master)
:
"OK" (0x4F4B)
Stop module
“FAST STOP”
Acknowledge error
