Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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General Command and Response Message Types
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 48 of 160
Standard Command Types
The standard CIP Command Types 1–5 will load individual motor parameters, such as Accel-
eration, Deceleration, etc. A Profile Move will be started or a torque will be applied when the
command type in the message is Target Position, Target Velocity or Torque, and the Control
Mode is set to Position, Velocity or Torque, respectively.
The normal flow for a Position Move:
1. Set the Control Mode to Position Control.
2. Set the Acceleration value.
3. Set the Deceleration value.
4. Set the Target Velocity value.
5. Set the Target Position value (this message would start the Position Move).
The normal flow for a Velocity Move:
1. Set the Control Mode to Velocity Control.
2. Set the Acceleration value.
3. Set the Deceleration value.
4. Set the Target Velocity value (this message would start the Velocity Move).
The normal flow for a apply Torque:
1. Set the Control Mode to Torque Control.
2. Set the Torque value (this message would start Torque Control).
Extended Profile Move Command Types (32-byte message format only)
There are two additional command types when the host I/O connection size is 32 bytes: 6
(Move Position) and 7 (Move Velocity). These commands take advantage of the additional
fields in the 32-byte format, allowing a move to be started with one command.
The normal flow for a Position Move:
1. Set the control mode to Position Control.
2. Send a Move Position message (Command type 6) with Target Position, Target Velocity,
Acceleration and Deceleration values (this message would start the Position Move).
The normal flow for a Velocity Move:
1. Set the Control Mode to Velocity Control.
2. Send a Velocity Position message (Command type 7) with Target Velocity, Acceleration
and Deceleration values (this message would start the Position Move).
NOTE: A Velocity Move command sent to a motor already in motion with either Pos-
ition Control or Velocity Control, will immediately change the Target Velocity to the
value in the message.