Position Controller I/O Handshaking
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 55 of 160
Position Controller I/O Handshaking
This section describes I/O handshaking for the Position Controller device.
NOTE:
References to "client" are from the viewpoint of the Master device.
Client Data Loading Procedure
The following figure describes the client data loading procedure.
Start
Load Command Data
Values, Command Axis Number,
and Command Type into
Command Message
Set Load Data/Start Profile
bit=1
Is Load Data
Complete bit in
response
message = 1?
Set Load Data/Start Profile
bit=0
Output
Instance
FLT
NO
YES
NO
YES
See note
Client Data Loading Procedure
NOTE:
When the Event Data Block is present, additional elements are included
based on the Event Checking Status element. If the Extended Format bit is set in
the Event Checking Status word, then the following are included: Reg Data Ack,
Home Data Ack, and Watch Data Ack. The Event Block Count field determines the
repetition (from zero to seven times) of the following elements: Event ID #, Event
Status #, Event Type #, Event Position #, and Event Time Stamp #.
