Moog Animatics Class 6 SmartMotor, Руководство пользователя

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Response Packet Codes to Motor Commands
Response
Code
Event for
update
Response
Data Value
Response Description
Smart
Motor
Command(s)
decimal, hex
161, xA1
N/A
0 (Reserved)
162, xA2
cyclic
<value>= velocity RVA
163, xA3
cyclic
<value>= buffered maximum velocity RVT
164, xA4
cyclic
<value>= legacy status word (n/a)
165, xA5
cyclic
<value>= value of negative software limit RSLN
166, xA6
cyclic
<value>= value of positive software limit RSLP
167, xA7
N/A
0 (Reserved)
168, xA8
cyclic
<value>= Inputs 0-7, 16-bit value, right justified RIN(W,0)
169, xA9
N/A
0 (Reserved)
170, xAA
cyclic
<value>= status word 0 RW(0)
171, xAB
cyclic
<value>= status word 1 RW(1)
172, xAC
cyclic
<value>= status word 2 RW(2)
173, xAD
cyclic
<value>= status word 3 RW(3)
174, xAE
cyclic
<value>= status word 4 RW(4)
175, xAF
cyclic
<value>= status word 5 RW(5)
176, xB0
cyclic
<value>= status word 6 RW(6)
177, xB1
cyclic
<value>= status word 7 RW(7)
178, xB2
cyclic
<value>= status word 8 RW(8)
179, xB3
cyclic
<value>= status word 9 RW(9)
180-181,
xB4-xB5
N/A
0 (Reserved)
182, xB6
cyclic
<value>= user bits 0-15 (status word 12) RW(12)
183, xB7
cyclic
<value>= user bits 16-31 (status word 13) RW(13)
184-185,
xB8-xB9
N/A
0 (Reserved)
186, xBA cyclic
<value>= I/O 0-7 (status word 16) RW(16)
187-199,
xBB-xC7
N/A
0 (Reserved)
200, xC8
cyclic
<value>= u8VarIndexSet
201, xC9
cyclic
<value>= u8VarIndexSetActual
202, xCA
cyclic
<value>= u8VarLenSet
203, xCB
cyclic
<value>= u8ArrIndexSet
204, xCC
cyclic
<value>= u8ArrIndexSetActual
205, xCD
cyclic
<value>= u8ArrLenSet
206, xCE
cyclic
<value>= u8AutoIncSet
207, xCF
cyclic
<value>= u8VarIndexGet
208, xD0
cyclic
<value>= u8VarIndexGetActual
209, xD1
cyclic
<value>= u8VarLenGet
210, xD2
cyclic
<value>= u8ArrIndexGet
211, xD3
cyclic
<value>= u8ArrIndexGetActual
212, xD4
cyclic
<value>= u8ArrLenGet
Moog Animatics Class 6 PROFINET Guide Rev. D
Page 66 of 76