45 lines
852 B
Plaintext
45 lines
852 B
Plaintext
IO
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01:VERSION(0~255)
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10:DEVICE_ID
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01:DICount(0~255)
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01:DOCount(0~255)
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---------------------12byte-----------
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##Command Area
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02:Command Device
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02:Command Code
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04:Command Value
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---------------------20byte-----------
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01:Status
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0 : init(초기화여부)
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1 : error
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02:StatusCode(-32767~32767)
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32:DIValue (dicount에 따라서 가변됨 dicount/8)
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32:DOValue (docount에 따라서 가변됨 docount/8)
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---------------------87byte-----------
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MOT
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01:VERSION(0~255)
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10:DEVICE_ID
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01:Axis Count(0~255)
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---------------------12byte----------------
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02:Status
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0 : init(초기화여부)
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1 : error
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02:StatusCode(-32767~32767)
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---------------------16byte----------------
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축별로 데이터가 순환된다. 총10byte로 구성 됨
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01:Axis No
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01:Axist Status
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0 : Servo On
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1 : Inposition
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2 : N-Limit
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3 : P-Limit
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4 : Origin Sensor
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5 : HomeSet
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7 : Emergency
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04:Current Position
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04:Command Position |