Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Position Controller Implicit I/O Message Examples
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 58 of 160
Position Controller Implicit I/O Message
Examples
These examples are meant for reference only. They depict the Frame data on the bus over the
Implicit Connection for the Position Controller Device (0x10) I/O assembly to create a profile
move (refer to the following description). When operating on DeviceNet, these frames are for
the Polled I/O Implicit Connection.
NOTE:
To simplify the presentation, these examples do not include extended data transfer
across the network.
All but the last example show the standard 8-byte command/response frames. If
the drive is configured for the extended 32-byte frames, the extra 24 bytes are
assumed to be set to values of zero.
SmartMotor Notes
For proper operation, external hardware input conditions must be satisfied to get the desired
results. For example, to enable the drive stage on the model SM34165MT-IP SmartMotor, the
drive-enable input (pin 10 of the 12-pin I/O connector) must be at 24 Volts (enabled).
The SmartMotor is a single axis. Therefore, the value 0 or 1 may be used for the axis number
in the I/O Data (the examples typically use 0 for easier reading). Also, the symbol "0x??" is
used to indicate there are bits within the byte that are determined by the present state of the
SmartMotor.
The following are further assumptions for the SmartMotor:
l
Motor sample rate set to: 16 kHz
l
Motor counts per revolution: 4000
l
Motor mode: Position
l
Hardware Travel Limits are Satisfied or Disabled
l
SmartMotor Hardware Enable is Satisfied
Set Acceleration
For the following example, Command Frame = CF, Response Frame = RF.
Frame
Type
Frame Data
(Hexadecimal Bytes)
Result
CF 0–7
01 00 23 21 7D 01 00 00
Axis 1 ADT=100
RF 0–7
?? 00 8? 21 00 00 00 00
Axis 1 at Position 0
Clear the Load Data, Power Stage ON
CF 0–7 80 00 01 01 00 00 00 00 Ask for position
RF 0–7
8? 00 0? 01 00 00 00 00
Axis 1 ON, Position 0