Applied Motion RS-232 - Manual (Page 286)

286 920-0002 Rev. I
2/2013
Host Command Reference
Vendor-Specific Device Profile A 0x3C 0x64 0x01 0x01
Explicit Message Types
Two types of explicit messages can be sent to Applied Motion EtherNet/IP drives. Type 1 messages include
most of the buffered SCL and Q commands. However, unlike SCL and Q commands that are sent over RS-232,
RS-485 and standard Ethernet, Type 1 messages do not support queries. “Immediate” SCL commands cannot be
encapsuated in Type 1 messages.
Type 2 messages provide additional functionality not available with Type 1 messages, including the ability
to read back settings and registers. Both types can be sent over a Class 3 connection, or they can be sent to the
Unconnected Message Manager (UCMM).
Both command message types result in a response message even when no data is requested.
All numerical values are in two’s complement. Integers are sent big endian (most significant byte first).
For detailed SCL and Q command descriptions, please see the main section of this manual. When reading
the command descriptions in the main part of this manual, please be advised that the EtherNet/IP encapsulation
often requires that different units, and a different range of acceptable values, be used.
Type 1 Message Format
See Table 1 for the complete list of commands. The response message will always echo back the opcode
and register code (if present). Also contained in the response message is the drive’s status code, a bit pattern
that indicates useful information such as whether there is a fault or if the motor is in motion. For more information,
please see the section on the SC command earlier in this manual.
Note: All numerical values are in two’s complement. Integers are sent big endian (most significant byte first).
Command Message Format:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
B0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0
B1 Command Axis Number = 0x0 Command Message Type = 0x1
B2 Register, I/O or other code here for some commands (see Table 1, page 275). 0 for all others.
B3 Opcode
B4 Parameter1
B5 Parameter2
B6 Parameter3
B7 Parameter4
Response Message Format:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
B0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0 Reserved
= 0
B1 Response Axis Number = 0x0 Response Message Type = 0x1
B2 Register code for commands QR, RR, RW and RX, 0 for all others
B3 Opcode
B4 Status Code MSB
B5 Status Code LSB
B6 Unused = 0