SCHUNK STM 48V, Сборка и руководство по эксплуатации

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SCHUNK Motion protocol
05/STM-48V/en/2011-04-01/CW 61
Miscellaneous: Spontaneous response when position reached
or in case of prior termination of positioning.
D-Len Cmd Param Meaning
M ► S
0x05 0xB0 0x00 0x00 0x20 0x41 Move to position 10.0[mm]
S ► M
0x05 0xB0 0xCD 0xCC 0x04 0x41 Will reach position in 8.3[sec]
Table 27 Example for MOVE POS
Command Code: 0xB3
Description: A current move is executed.
Parameters
(Master ► Slave)
:
Current in configured unit system (must be specified).
Response
(Slave ► Master)
: "OK" (0x4F4B) if successful. The
module executes the command.
Miscellaneous: Spontaneous message is possible.
D-Len Cmd Param Meaning
M ► S
0x05 0xB3 0x00 0x00 0x60 0x40 Execute current move with 3.5[A]
S ► M
0x05 0xB3 0x4F 0x4B
Table 28 Example for MOVE CUR
Command Code: 0xB5
Description: A velocity move is executed.
Parameters
(Master ► Slave)
:
•
Velocity in configured unit system (must be specified)
•
Current (optional)
Response
(Slave ► Master)
: "OK" (0x4F4B) if successful. The
module executes the command.
Miscellaneous: Spontaneous message is possible if the module
is no longer moving.
D-Len Cmd Param Meaning
M ► S
0x05 0xB5 0x9A 0x99 0x31 0x41 Execute velocity move with
11.1[mm/s]
S ► M
0x05 0xB5 0x4F 0x4B
Table 29 Example for MOVE VEL
Current move
Velocity move