Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Position Controller (0x25)
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 87 of 160
Attr
ID
Access
Rule
Name
Data
Type
Description
3 Set/Get Mode USINT Operating Mode:
0 = Position mode (default)
1 = Velocity mode
2 = Torque mode
6 Set/Get Target Position DINT Profile Position value to set in Profile units (see
Attr ID 40)
7 Set/Get Target Velocity DINT Profile Velocity in units/sec, positive only
8 Set/Get Acceleration DINT Profile Acceleration in units/sec-sec, positive
only
9 Set/Get Deceleration DINT Profile Deceleration in units/sec-sec, positive
only.
10 Set/Get Incremental Pos-
ition Flag
BOOL Defines Attr ID 6 as being either absolute or
incremental:
0 = absolute move
1 = incremental move
11 Set/Get Load Data/ Start
Profile/ Profile in
Progress
BOOL On set, loads data and starts the current profile.
On get, reports Profile in Progress
13 Set/Get Actual Position DINT Actual absolute position. Can be Set to redefine
actual position.
14 Get Actual Velocity DINT Reports actual velocity in units/sec.
15 Get Commanded Pos-
ition DINT The instantaneous calculated position
16 Get Commanded
Velocity DINT The instantaneous velocity in units/sec.
17 Set/Get Enable BOOL On the enable edge, commanded position is set
to equal actual position.
Values:
0=disable
1=enable
20 Set/Get Smooth Stop BOOL Smooth Stop motor
21 Set/Get Hard Stop BOOL Hard Stop motor
23 Set/Get Direction BOOL Instantaneous Direction
Values:
0=reverse
1=forward
Is set to change or select direction on Velocity
Mode
24 Set/Get Reference Dir-
ection
BOOL Shaft Rotation Direction (forward facing shaft):
0 = CW
1 = CCW
25 Set/Get Torque DINT Output Torque
Range: -32767 to 32767