Parker ACR Series, Руководство программиста

Страница: 113 / 176

Parker Hannifin
Binary Move Command
A binary move consists of a variable length header followed by a
number of four-byte data fields. The bit-mapped information in the
header determines the number of data fields and their content. All
data fields are sent low order byte first.
Binary Move Packet
Data Field Data Type Description
Head 00 BYTE Header ID (0x04)
Head 01 BYTE Header Code 0
Head 02 BYTE Header Code 1
Head 03 BYTE Header Code 2
Head 04 BYTE Header Code 3
Head 05 BYTE Header Code 4
Head 06 BYTE Header Code 5
Head 07 BYTE Header Code 6
Head 08 BYTE Header Code 7
Data 00 IEEE32 Master VEL
Data 01 IEEE32 Master FVEL
Data 02 IEEE32 Master ACC / DEC
Data 03 LONG* Slave 0 Target or NURB/Spline control point
Data 04 LONG* Slave 1 Target or NURB/Spline control point
Data 05 LONG* Slave 2 Target or NURB/Spline control point
Data 06 LONG* Slave 3 Target or NURB/Spline control point
Data 07 LONG* Slave 4 Target or NURB/Spline control point
Data 08 LONG* Slave 5 Target or NURB/Spline control point
Data 09 LONG* Slave 6 Target or NURB/Spline control point
Data 10 LONG* Slave 7 Target or NURB/Spline control point
Data 11 LONG* Slave 8 Target or NURB/Spline control point
Data 12 LONG* Slave 9 Target or NURB/Spline control point
Data 13 LONG* Slave 10 Target or NURB/Spline control
point
Data 14 LONG* Slave 11 Target or NURB/Spline control
point
Data 15 LONG* Slave 12 Target or NURB/Spline control
point
Data 16 LONG* Slave 13 Target or NURB/Spline control
point
Data 17 LONG* Slave 14 Target or NURB/Spline control
point
Data 18 LONG* Slave 15 Target or NURB/Spline control
point
Data 19 LONG* Primary Center
Data 20 LONG* Secondary Center
Data 21 IEEE32 Primary Scaling or NURB/Spline Knot
Data 22 IEEE32 Secondary Scaling or NURB Weight
* These fields are in IEEE32 format if bit 2 of header code 3 is set
Binary Host Interface 113