Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Semantics for Command and Response Messages
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 52 of 160
Semantics for Command and Response Messages
This section provides semantic information for the command and response messages in the
previous tables.
Command Message Semantics
This following table provides semantic information for the command messages.
Item
Cmd
Msg
Type
Description
Load Data/ Start
Profile Set from zero to one to load command data. The transition of
this bit from zero to one will also start a Profile Move when the
command message type contained in the command message
field is the message type that starts a Profile Move for the mode
selected.
Start Block Not supported.
Incremental This bit is used to define the position value as either absolute or
incremental. 0 = absolute position value and 1 = incremental
position value.
Direction (V.
Mode) This bit is used to control the direction of the motor in Velocity
mode. 1 = forward, positive; 0 = reverse, negative.
Smooth Stop This bit is used to bring the motor to a controlled stop at the cur-
rently implemented deceleration rate.
Hard Stop This bit is used to bring the motor to an immediate stop.
Registration Arm Not supported.
Enable This bit is used to control the enable output. Clearing this bit will
set the enable output inactive and the currently executing motion
profile will be aborted.
Block # This byte defines the block number to be executed when the
Start Block bit transitions from zero to one.
Command Mes-
sage Type This field defines the Command Message Type
Response Mes-
sage Type This field defines the Response Message Type
Command Axis
Number These three bits define the Consumed Axis Connection attribute
of the Position Controller Supervisor class. This attribute value
specifies the instance number of all of the axis objects whose
data are contained in the I/O command message. The SmartMo-
tor is a single-axis device. Therefore, only axis 1 is used, which
can be specified by either 0 or 1.
Target Position 0x01 This double word defines the Profile Move’s Target Position in
position units, when the Load Data /Start Profile bit transitions
from zero to one.
Target Velocity 0x02 This double word defines the Profile Move’s Target Velocity in
profile units, when the Load Data /Start Profile bit transitions
from zero to one