Programmer Owner manual

263
IQ
®
Programmer Reference Manual
Type 1 Message Examples
Example 1: SCL commands required for Point to Point move
AC100 set acceleration rate to 100 rev/sec/sec (6000 rpm/sec)
opcode 0x001E from Table 1
operand 0x258 units are 10 rpm/sec, so 6000 rpm/sec is represented by 600 decimal = 258 hex
DE100 set deceleration rate to 100 rev/sec/sec (6000 rpm/sec)
opcode 0x001F from Table 1
operand 0x258 units are 10 rpm/sec, so 6000/sec is represented by 600 decimal = 25
VE5 set velocity to 5 rev/sec (300 rpm)
opcode 0x001D from Table 1
operand 0x4B0 units are 0.25 rpm, so 300 rpm is represented by 1200 decimal = 4B0 hex
Type 1 Command Message Payload Type 1 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 1 message type byte 1 1 message type
byte 2 0 unused byte 2 0 unused
byte 3 1E opcode byte 3 1E opcode
byte 4 0 unused byte 4 ? Status Code MSB
byte 5 0 unused byte 5 ? Status Code LSB
byte 6 2 operand MSB byte 6 0 not used
byte 7 58 operand LSB byte 7 0 not used
Type 1 Command Message Payload Type 1 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 1 message type byte 1 1 message type
byte 2 0 unused byte 2 0 unused
byte 3 1F opcode byte 3 1F opcode
byte 4 0 unused byte 4 ? Status Code MSB
byte 5 0 unused byte 5 ? Status Code LSB
byte 6 2 operand MSB byte 6 0 not used
byte 7 58 operand LSB byte 7 0 not used
Type 1 Command Message Payload Type 1 Response Message Payload
byte 0 0 reserved byte 0 0 reserved
byte 1 1 message type byte 1 1 message type
byte 2 0 unused byte 2 0 unused
byte 3 1D opcode byte 3 1D opcode
byte 4 0 unused byte 4 ? Status Code MSB
byte 5 0 unused byte 5 ? Status Code LSB
byte 6 4 operand MSB byte 6 0 not used
byte 7 B0 operand LSB
byte 7 0 not used