DeviceNet Programmers Guide - Copley Controls

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I/O MessagingCopley DeviceNet Programmer’s Guide3.1: OverviewCopley Controls DeviceNet firmware supports one polled I/O message format. Thismessage can be used to enable the amplifier, clear faults and errors, start and haltmoves, and home the amplifier. It also provides access to the amplifier parametersdescribed in I/O Message Amplifier Parameters (p. 53) and access to the amplifier'sIndexer Program registers.The I/O message is configured as part of the predefined master/slave connection set, aDeviceNet standard method for allocating I/O messages through the DeviceNet object.The amplifier is the slave, and the DeviceNet scanner is the master.12 Copley Controls Corp.
Copley DeviceNet Programmer’s GuideI/O Messaging3.2: I/O Command Message (Scanner-to-Amplifier)3.2.1: Command Message FormatThe command message consists of 8 bytes of data formatted as follows:Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0Byte 1 Reserved ClearErrorHandshakeHalt move ClearFaultsEnableByte 2Byte 3Command CodeParameter IdentifierByte 4 Reserved Monitor IDByte 5 Data Value bits 0-7Byte 6 Data Value bits 8-15Byte 7 Data Value bits 16-23Byte 8 Data Value bits 24-31See Command Message Field Details (p. 14).Copley Controls Corp. 13
Page 1 and 2: Copley DeviceNet Programmer’s Gui
Page 3 and 4: TABLE OF CONTENTSAbout This Manual
Page 5: ABOUT THIS MANUALOverview and Scope
Page 11 and 12: CHAPTER2: AMPLIFIER CONFIGURATION U
Page 17: CHAPTER3: I/O MESSAGINGThis chapter
Page 25 and 26: CHAPTER4: I/O MESSAGES AND BASIC MO
Page 35 and 36: CHAPTERA: EXPLICIT MESSAGES AND THE
Page 43 and 44: APPENDIXB: HOMING VARIABLES AND MET
Page 59 and 60: CHAPTERC: I/O MESSAGE AMPLIFIER PAR

DeviceNet Programmers Guide - Copley Controls

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