SCHUNK STM 48V, Сборка и руководство по эксплуатации, Страница: 62 / 80

SCHUNK Motion protocol
62 05/STM-48V/en/2011-04-01/CW
Command Code: 0x91
Description: The module is braked and stopped in the current
position.
Parameters
(Master ► Slave)
: None.
Response
(Slave ► Master)
: "OK" (0x4F4B) if successful.
Miscellaneous: Spontaneous message is possible.
D-Len Cmd Param Meaning
M ► S
0x01 0x91
S ► M
0x03 0xB5 0x4F 0x4B OK
Table 30 Example for CMD STOP
Command Code: 0x90
Description: The module is stopped as quickly as possible. If a
brake is fitted and appropriately configured, it is activated imme-
diately. The motor phases are short circuited.
Parameters
(Master ► Slave)
: None.
Response
(Slave ► Master)
: Error message "ERROR FAST
STOP" is triggered.
Miscellaneous: Can only be reset by "CMD ACK".
D-Len Cmd Param Meaning
M ► S
0x01 0x90
S ► M
0x03 0x88 0xD9 fast stop executed
Table 31 Example for CMD FAST STOP
Command Code: 0x8B
Description: Acknowledgement of an error message.
Parameters
(Master ► Slave)
: None.
Response
(Slave ► Master)
: "OK" (0x4F4B)
Stop module
“FAST STOP”
Acknowledge error