Festo Кабели и принадлежности - Manual (Page 69)

5. Data structure
5−11
Festo P.BE−SPC200−COM−CANDN−EN en 0511a
Composition of the Command Message
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 SYNC_IB SYNC_IA STOP START/
RESET ENABLE
1
2 Command Message type CMT (with update commands always = 0)
3 RMT Response Axis Number R−AN Response type RT
4 ... 7
Byte 3 of the Response Message type (RMT = R−AN + RT),
defines the data which are to be read:
ć In order to read the actual positions of the axes, set the
following values in the RMT:
Activity R−AN RT => RMT
Update the actual position of the X−axis 0 (=> 0h) 01
h,
02
h
01
d
, 02
d
Update the actual position of the Y−axis 1 (=> 20h)
1 / 2 *)
21
h,
22
h
33
d
, 34
d
Update the actual position of the Z−axis 2 (=> 40h)
1 / 2 *)
41
h,
42
h
65
d
, 66
d
Update the actual position of the U−axis 3 (=> 60h) 61
h,
62
h
97
d
, 98
d
*) 1" supplies a reply in the format signed 32 bit";
2" supplies a reply in the format float 32 bit (IEEE 754)"
ć In order to read the field bus outputs of the SPC200
(Q10.0 ... Q13.15), set the following values in the RMT:
(only in Start/Stop mode)
Activity R−AN RT => RMT
Update FB output Q10.0 ... Q11.15 0 3 03
h
03
d
Update FB output Q12.0 ... Q13.15 4 04
h
04
d