MOOG ANIMATICS Smart Motor SM23166MT, Руководство пользователя

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Ethernet Serial Encapsulation Sample Command Sequences
SmartMotor. For these examples, an open-source software (Wireshark network protocol
analyzer) is used to show the communications between SMI software and the SmartMotor.
NOTE: There are various utilities available for this purpose. Therefore, Moog
Animatics does not endorse any particular one—the selection depends on the
requirements of your application.
For each of the following sections:
l
Section title = action being performed
l
Output = formatted byte stream sent from master to the SmartMotor
l
Input = formatted byte stream received by the master from the SmartMotor
For the following tables:
NOTE: A table is provided to illustrate the parts of the byte sequence only. The
byte sequence must be transmitted as a stream of bytes shown in the Output/Input
strings above the table (i.e., no pause or null for the blank cells).
These items unique to the UDP Discovery Example:
l
Operation Code (Bytes 0-3) = specifies the operation being performed
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Reserved (Bytes 4-23) = reserved bytes
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MAC address (Bytes 24-29) = the MAC address of the responding motor
These items are common to TCP Command Examples:
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Prefix = required stream prefix (Output always 80; Input = N/A)
l
Command = Output byte string representing the desired command
l
Response = Input byte string representing the response from the motor
l
Terminator = required stream terminator (Output always 20; Input = 0d)
Moog Animatics Class 6 SmartMotor™ Ethernet Serial Encapsulation Guide, Rev. B
Page 22 of 32