Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Position Controller (0x25)
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 89 of 160
Attr
ID
Access
Rule
Name
Data
Type
Description
53 Set/Get Soft Limit Action USINT Soft Limit Action Code:
0 = Servo off
1 = Hard Stop
2 = Smooth Stop
128 = MTB
54 Set/Get Positive Soft
Limit Position
DINT Soft limit positive boundary in position counts,
enable BOTH soft limits
55 Set/Get Negative Soft
Limit Position
DINT Soft limit negative boundary in position counts,
enable BOTH soft limits
56 Get Positive Limit
Triggered BOOL Hard or Soft limit forward limit occurrence flag
57 Get Negative Limit
Triggered BOOL Hard or Soft limit forward limit occurrence flag
58 Get Load Data Com-
plete BOOL Valid data for a valid I/O command message
type has been loaded into the position controller
100 Set/Get Current Limit DINT Current limit of motor 0 to 1023
101 Set/Get Reset Motor
Faults
BOOL Set to 1 for RESET action, the Get returns the
Drive Ready Status
102 Set/Get Reset Motor BOOL Set to 1 for RESET action, the Get returns the
Drive Ready Status
103 Set/Get Overheat Set-
point
USINT Overheat setpoint 0-70 or 0-85 degrees C
104 Get Temperature INT Real time temperature
105 Set/Get Variable u DINT Motor user variable u
106 Set/Get Variable v DINT Motor user variable v
107 Set/Get Variable w DINT Motor user variable w
108 Set/Get Variable x DINT Motor user variable x
109 Set/Get GOSUBnnn UINT Setting executes a user program command
GOSUBnnn. The Get returns the program running
status.
110 Get Loss of Network
Action USINT Action if DeviceNet network heartbeat lost:
0 = IGNORE (No Command)
1 = OFF (Motor Off)
2 = X (Smooth Stop)
3 = S (Hard Stop)
4 = GOSUB
5 = GOTO
111 Get Status Word WORD Motor status word
112 Get Angle Match BOOL Commutation Angle Match bit