ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 7)

10.6 Profiled Torque (PT) Mode............................................................................. 10-39
10.6.1 Profiled Torque (PT) Commands........................................................ 10-39
10.6.2 Using Profiled Torque Commands..................................................... 10-40
10.6.2.1 Profiled Torque Implementation.....................................................10-40
10.6.2.2 Description of the Profiled Torque Mode Command....................10-41
10.6.2.3 Using the Profiled Torque Mode for a Group (Vector) .................10-42
10.7 DS402 Command List...................................................................................... 10-42
10.8 DS402 PDO Mapping table............................................................................. 10-57
Chapter 11: Ethernet IP Communication...................................................................................11-1
11.1 Terms and Abbreviations ................................................................................. 11-2
11.2 Types of Ethernet/IP Messages ....................................................................... 11-2
11.3 Product Classes.................................................................................................. 11-3
11.4 Ethernet/IP Module Activation ....................................................................... 11-3
11.4.1 Ethernet/IP Scanner (Rockwell) Activation ........................................ 11-3
11.4.2 Ethernet/IP Adapter (Maestro) Activation ......................................... 11-6
11.5 UCMM (Unconnected) Messaging .................................................................. 11-7
11.5.1 Server (Maestro) UCMM (Unconnected) Messaging.......................... 11-7
11.5.1.1 User interface to create communication objects...............................11-7
11.5.1.2 Using syntax........................................................................................11-8
11.5.2 Client (Rockwell) Messaging Support................................................ 11-10
11.5.2.1 User interface to create communication objects.............................11-11
11.5.2.2 Using syntax......................................................................................11-12
11.6 Class 1 (I/O) connection server ..................................................................... 11-14
11.6.1 User interface to create communication objects................................ 11-15
11.6.2 Using syntax ......................................................................................... 11-15
11.7 Class 3 (connected) messaging server ........................................................... 11-16
11.7.1 User interface to create communication objects................................ 11-16
11.7.2 Using syntax ......................................................................................... 11-17
11.7.2.1 Command interpreter.......................................................................11-17
11.7.2.2 Maestro Program ..............................................................................11-18
Chapter 12: MODBUS Implementation.....................................................................................12-1
12.1 Master (Client) functionality implementation................................................ 12-2
12.1.1 Ethernet media........................................................................................ 12-2
12.1.1.1 TCP communication parameters .......................................................12-2
12.2 Serial RS-232 media ........................................................................................... 12-3
12.2.1 Communication parameters for ASCII or RTU................................... 12-3
12.3 MODBUS Master functionality ........................................................................ 12-3
12.3.1 MODBUS Master Object Communication Control Functions ........... 12-4
12.3.2 MODBUS Master Object Bit Access Functions.................................... 12-4
12.3.3 MODBUS Master Object 16-bit Access Functions............................... 12-7
12.4 Slave (Server) functionality implementation ................................................ 12-10
12.5 MODBUS objects configuration by Elmo Studio: User Interface
implementation .......................................................................................................... 12-13
12.5.1 Elmo Studio MODBUS window ......................................................... 12-13
12.5.2 MODBUS TCP master.......................................................................... 12-14
12.5.3 MODBUS Serial Master ....................................................................... 12-15
12.5.4 MODBUS TCP Slave ............................................................................ 12-15
Maestro Software Manual Contents
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