Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Position Controller Implicit I/O Messages
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 45 of 160
Position Controller Implicit I/O Messages
This section describes the details about implicit I/O messages for the device.
General Command and Response Message Types
This section describes the formats for consumed and produced general messages.
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The standard CIP Position Controller I/O connection messages are 8-byte messages.
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The Class 6 EtherNet/IP SmartMotor supports both the standard 8-byte format and an
extended 32-byte format.
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The first eight bytes of the 32-byte format match the 8-byte format defined in the ODVA
CIP Position Controller specification. The SmartMotor will select which message format
to use based on the host controller connection size.
Connection
Size
Description
8 bytes The motor will use the CIP standard communication format and Command Mes-
sage Types
32 bytes
The motor will use:
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CIP Standard 8 byte messages
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Additional Data Fields in the Command / Response Message frames
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Extended Command Message Types 6 (Position Move) & 7 (Velocity
Move)
Any other The motor will respond with an error
The default connection size used in the Class 6 EtherNet/IP SmartMotor EDS file is 32-bytes.
NOTE: Implicit I/O messages are the most efficient method of exchanging cyclic
data, such as Target Position and Actual Position, with the SmartMotor. These mes-
sage types for the Position Controller Polled I/O Connection are typically the best
choice for commanding the SmartMotor shaft position or applied torque.