Moog Animatics Class 6 SmartMotor, Руководство пользователя

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Output and Input Packet Format
Offset
Description Notes
Affected by
byte / word
swap
parameter
Word Byte
0 0 Reserved (write as 0x00)
4 N/A
1 Reserved (write as 0x00)
4 N/A
1 2 Command Data Value (32 bits)
Yes
3
2 4
5
3 6 Command code request (16 bits) Yes
7
4 8 Response code 0 request (16 bits)
See note 1: some codes must use of this section 1 Yes
9
5 10 Response code 1 request (16 bits) 2 Yes
11
6 12 Response code 2 request (16 bits) 2 Yes
13
7 14
Response code 3 request (16 bits) 2 Yes
15
8 16 Response code 4 request (16 bits) 2 Yes
17
9 18 Response code 5 request (16 bits) 2 Yes
19
10 20 Response code 6 request (16 bits) 2 Yes
21
11 22 Response code 7 request (16 bits) 2 Yes
23
Input (28 words) Data Format (Motor response)
Offset
Description Notes
Affected by
byte / word
swap
parameter
Word Byte
0 0 Reserved (reports as 0xFF)
3 N/A
1 Reserved (reports as 0xFF)
3 N/A
1 2 Reserved (ignore, reports as 0)
N/A
3
Reserved (ignore, reports as 0) N/A
Moog Animatics Class 6 PROFINET Guide Rev. D
Page 47 of 76