progressive automations PA-12, Руководство пользователя

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HEADER ID Size Error Checksum
0xFFFFFF 0x01 0x02 0x00 0xFC
HEADER ID Size Command Checksum
0xFFFFFF 0x01 0x02 0xF5 0x07
HEADER ID Size Error Checksum
0xFFFFFF 0x01 0x02 0x00 0xFC
HEADER ID Size Command Factor #1 Factor #2
Address Length
0xFFFFFF 0xFE 0x0S 0x73 0x86 0x02
Factor #3 Factor #4 Factor #5 Factor #6 Factor #7 Factor #8 Checksum
1> ID 1> Data #1 1>Data #2 2>ID 2> Data #1 2> Data #2
0x01 0xFF 0x03 0x02 0xFF 0x07 0xF1
7) Execution
Execute temporarily stored data that is made by Send Data.
8) Symmetric Store
Save data in the same address of multiple actuators.
- Feedback packet informing receipt of the temporary store for actuator goal position (respond in the Feedback Return
Mode 2 only)
- Feedback packet informing receipt of execution command for temporarily stored data (respond in the Feedback Return
Mode 2 only)
- Command packet to assign respective goal position to multiple actuator motors at the same time
- Better synchronization without delay than the respective command is made for each actuator motor
- ID: Broadcast ID (command to all connected IDs)
- Command: Send data at the same time to the ID defined in Factor (1>ID, 2>ID …)
- Address: The address at which the present position value is saved (see (3) Data Map)
- Length: The number of bytes to read from the Address (present position value consists of 2 bytes)
- Feedback Packet: Does not have feedback
- Actuator ID 1: 1023 (0x03FF), Actuator ID 2: 2047 (0x07FF)
- Command packet to execute all temporarily stored data at the same time
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Progressive Automations – Position Control Communication Protocol
Command Packet
Feedback Packet
Feedback Packet
• Goal Position: Command packet to assign multiple actuator’s goal positions.