DEMAND Packet
The DEMAND packet is sent from the contoller to each
node in CYCLIC phase. It provides torque, velocity, or pulse data.
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
0x04 DEMAND |
8
|
|
Header (Fixed) |
| nodeFlags |
8
|
nodeFlags |
Mac (Required) |
| demandFlags |
16
|
demandFlags |
Axis[0] Configurable |
| demandA |
16
|
demandData
|
| demandB |
16
|
| demandC |
16
|
| dac0 |
16
|
dacData |
| dac1 |
16
|
| pulseCount |
16
|
pulseData |
| pulsePeriod |
16
|
| pulseInitial |
16
|
| pulse.Width |
16
|
| extension |
8
|
demandExtension
(future modules) |
| each axis configured independently |
32
|
As required |
Axis[N] Configurable |
| CRC |
32
|
|
CRC (Fixed) |
NodeFlags
Each DEMAND packet contains a 16-bit nodeFlags field.
|
Bit
|
Description
|
Definition
|
|
0
|
upstreamFault |
1 = upstream
fault threshold exceeded on controller
0 = upstream fault threshold NOT exceeded on controller
Resets to 0 |
|
1
|
recoveryEnable |
1 - enable node network
fault recovery
0 - diable fault recovery
Resets to 0 |
|
2
|
led5 |
1 - turn on LED5 of this node
0 - turn off LED5 of this node
Resets to 1 |
|
15:3
|
Reserved |
|
|
