progressive automations PA-12, Руководство пользователя

Страница: 25 / 33

HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data
0xFFFFFF 0x00 0x04 0xF3 0x03 0x01 0x04
HEADER ID Size Command Factor #1 Factor #2 Factor #3 Checksum
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x86 0xFF 0x07 0x7A
HEADER ID Size Command Factor #1 Factor #2 Factor #3 Checksum
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x86 0xE8 0x03 0x95
HEADER ID Size Command Factor #1 Factor #2 Factor #3 Checksum
Address Data #1 Data #2
0xFFFFFF 0x01 0x05 0xF3 0x0E 0x00 0x02 0xF6
4) Store Data
Refers to the stored data after sending address and data to set ID, Goal Position, Force Limit, Stroke Limit, Speed,
Force-On/Off, etc.
• ID change: Change ID from 0 to 1 (0x01)
• Goal Position command 1: Command packet to assign Goal Position to 2047 (0x07FF)
• Goal Position command 2: Command packet to assign Goal Position to 1000 (0x03E8)
• Motor Operating Rate 1: Command packet to assign Motor Operating Rate to 512 (0x0200)
- ID: Refers to the actuator motor ID
- Command: Save data at the respective address in order
- Address: The address at which the actuator motor ID is saved (see (3) Data Map)
- Data: Desired Actuator ID (put 0x01 at address 0x03)
- ID: Refers to the actuator motor ID
- Command: Save data at the respective address in order
- Address: The address at which the goal position value is saved (see (3) Data Map)
- Data #1: Desired goal position’s lower byte (address 0x86: 0xFF)
- Data #2: Desired goal position’s upper byte (address 0x87: 0x07)
◦ Goal position value hex change (decimal to hexadecimal): 2047 → 0x07FF
- ID: Refers to the actuator motor ID
- Command: Save data at the respective address in order
- Address: The address at which the goal position value is saved (see (3) Data Map)
- Data #1: Desired goal position’s lower byte (address 0x86: 0xE8)
- Data #2: Desired goal position’s upper byte (address 0x87: 0x03)
◦ Goal position value hex change (decimal to hexadecimal): 1000 → 0x03E8
- ID: Refers to the actuator motor ID
- Command: Save data at the respective address in order
- Address: The address at which the moving speed value is saved (see (3) Data Map)
- Data #1: Desired Motor Operating value’s lower byte (address 0x0E: 0x00)
- Data #2: Desired Motor Operating value’s upper byte (address 0x0F: 0x02)
◦ Motor Operating value hex change (decimal to hexadecimal): 512 → 0x0200
P a g e | 25
Progressive Automations – Position Control Communication Protocol