Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Attribute GET/SET Command Types 0x1A and 0x1B
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 50 of 160
Attribute GET/SET Command Types 0x1A and 0x1B
This section describes the formats for consumer and producer GET/SET messages. These mes-
sage types allow the set and get services of the Position Controller Supervisor(type 0x1A) and
Position Controller(type 0x1B) classes and their objects attributes. This is a form of indirect
addressing over the Polled I/O Connection instead of using an Explicit Connection transfer.
Polled I/O: Consumed Message Format
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Enable Reg.
Arm
1
Hard Stop Smooth
Stop
Direction
(Vel. mode)
Incremental Start
Block
1
Load Data/
Start Profile
1 Attribute Number to GET
2 Command Axis Number Command Message Type ( 0x1A or 0x1B )
3 Attribute Number to SET
4 Command (SET) Data Low Byte
5 Data Middle Low
6 Data Middle High
7 Command Data High Byte
Notes:
1. Byte 0 bits 6 and 1 are not supported Class 5 motors.
2. For Semantics, refer to Command Message Semantics on page 52.
Polled I/O: Produced Message Format
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Enable Reg.
Level
2
Home Level
2
Current
Direction
General
Fault
On Target
Position
Block in
Execution
2
Profile in
Progress
1 GET Attribute Number for the Response Data
2 Load
Complete
Block
Fault
2
Following
Error Fault
Negative
Limit
Positive
Limit
Reverse
Limit
Forward
Limit
Fault Input
Fault
1
3 Response Axis Number Response Message Type ( 0x1A or 0x1B )
4 Response (GET) Data Low Byte
5 Data Middle Low
6 Data Middle High
7 Response Data High Byte
Notes:
1. Byte 2 bit 0 can be configured as the Servo Bus Voltage Okay status.
2. Not supported.
3. For Semantics, refer to Response Message Semantics on page 53.
Attribute Message Types
NOTE: See byte 3 in the previous tables.
Message
Type
Class
Number
Class Description Command Data Response Data
26(0x1A) 36(0x24) Position Controller Supervisor Attribute Value to Set Attribute Value to Get
27(0x1B) 37(0x25) Position Controller Attribute Value to Set Attribute Value to Get