Assembly and installation
44
02.00 | PW V6 | Assembly and operating manual | en | 389670
5.10.4 Important commands
DANGER
Risk of injury by unexpected movements of the machine/
system!
When settings and parameter entries are faulty, components can
move in an uncontrolled manner and cause serious injuries.
•
Only specialists or specially trained personnel should carry out
settings and enter parameters.
NOTE
In all examples only the required parameters are listed, not the
optional ones. In the examples "M" stands for Master and "S" for
Slave (= product).
NOTE
For further information on the commands, see Software Manual
"SCHUNK Motion Protocol".
Reference run
Command code:
0x92
Description:
Eine Referenzfahrt wird ausgeführt.
Parameter:
(Master -> Slave): Keine.
Response
(Slave -> Master): "OK" (0x4F4B) if successful. Product is
executing the command.
Others:
Spontaneous response is possible
Example for REFERENCE
D-Len
Cmd
Param
Meaning
M -> S
0x01
0x92
S -> M
0x03
0x92
0x4F0x4B
successfully referenced
Positioning run
Command code:
0xB0
Description:
Moves the product to a specified position.
Parameter
(Master -> Slave):
• Position in configured unit system (must be specified)
• Velocity (optional)
• Acceleration (optional)
• Current (optional)
• Jerk (optional)
Response
(Slave -> Master): If possible, the time that the module
needs for the movement is returned.
