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NAC-S20-15 Active Compensation Unit - User Manual – Ver. 1.0
8.
Control via Ethernet TCP/IP Interface
Using the Ethernet TCP/IP interface it is possible to:
•
Control target force and ramp time
•
Initiating load calibration
•
Initiate position sensor homing
•
Monitor Error flags
•
Monitor if the NAC-S20-15 is in motion
•
Monitor the stroke distance
•
Monitor the NAC-S20-15 angle relative to the gravity vector
The NAC can be controlled through an Ethernet interface using a simple protocol on a
standard TCP/IP connection. Data is transmitted using port 2002. The protocol uses only
the data types seen in the table below.
Type
Description
Bytes
Value range
UINT8
8-bit unsigned integer
1
0 … 255
INT32
32-bit signed integer
4
-2147483648 … 2147483647
UINT32
32-bit unsigned integer
4
0 … 4294967295
DOUBLE
64-bit IEEE-754 Floating Point
8
-10
308
… 10
308
Table 13: Overview of the Types supported by the Ethernet Interface.
The protocol defines a package format. Each packet consists of two parts: A header which
contains the package size and type identifier and the data body which contains any data
which may be transferred with a package. For every packet sent by the user an
acknowledge is returned. The acknowledge has the same type as the packet initially sent.
The body of the packet will hold 0x01 if the request was correctly carried out and 0x00 if it
was not. The body of a packet can be empty. An overview of the format can be seen in
Table 16 The size field counts the total number of bytes in a package, including the header.
If the size field does not reflect the actual packet size the packet will not be read correctly.
The Type field can have one of the values shown in Table 15. If the value entered in the
type-field cannot be recognized the system will respond with an error.