CONTROL Packet
The CONTROL packet is sent from the contoller to each node in CYCLIC phase. It is also used for configuration during the DISCOVERY phase. The CONTROL packet contains only service channel data during DISCOVERY phase. In CYCLIC phase, it also contains various I/O data: I/O outputs, compare values, capture flags, and compare flags.
NOTE: The controller may require that the fields of the configured packet structure lie on natural boundaires. In which case, it may be necessary to create dummy fields.
|
Data
|
Bits
|
DataType and modules
|
Packet
Section
|
| packetType 0x05 CONTROL |
8
|
Header (Fixed) | |
| nodeAddress |
8
|
||
| serviceFlags |
16
|
serviceFlags (all modules) | Service (Required) |
| serviceAddress |
32
|
serviceAddress (all modules) | |
| serviceData |
32
|
serviceData (all modules) | |
| dedicatedOut |
16
|
dedicatedOut | Axis[0] Configurable |
| ioOut |
16
|
ioOut | |
| captureCommand |
16
|
captureFlags (capture2 Module) |
|
| compareCommand |
16
|
compareFlags (compare2 Module) |
|
| compare0 |
32
|
compareData (compare2 Module) |
|
| compareN (up to 16 compares, default=2) |
32
|
||
| extension |
8
|
axisExtension (future modules) |
|
| each axis configured independently |
32
|
As required | Axis[N] Configurable |
| extension (I/O, etc.) |
8
|
nodeExtension (future modules) |
Node Configurable |
| CRC |
32
|
CRC (Fixed) |