Installation manual

81
Variable
Name
Description
POS Position Command
V Velocity Feedback
VCMD Velocity Command
ICMD Torque Command
STATUS Software Status Word
STAT Second Software Status
Word
Panic Panic Flags word
errCode Error Code Flags
INPUT State of digital inputs
OUTPUT State of digital outputs
buErrCode Base Unit Error Code Flags
ocErrCode Option Card Error Code
Flags
Warning Warning Flags
7.7.5 Set Motion Task
UA FC = 65 Id = 8 Block Length(16bit) MotionTaskStructure CRC
Motion Task Structure:
typedef struct {
unsigned short nr; //! motion task number
sInt64 targetPosition; //!< O_P
int velocity; //!< O_V
int V_soll; //!< command/max velocity in counts
int accel; //!< O_ACC
int decel; //!< O_DEC
unsigned int controlWord; //!< O_C
int res1; //!< reserved
short tabNumber; //!< O_TAB
short res4; //!< reserved
unsigned short nextTask; //!< O_FN
unsigned short delay; //!< O_FT
} PACKED tsMotionTask;
UA FC = 65 CID = 8 CRC