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SynqNet Packet Formats

There are currently nine SynqNet Packet formats. Each packet is a unit of communication in a SynqNet Network. Theses packets are used by the controller to send and retrieve information about the network and its nodes. The packets that are configurable are: DEMAND, CONTROL, FEEDBACK, and STATUS. A breakdown of the packets is provided in the table below.

For information about CRC errors, please see the CRC Error Counters section.

Type
Name
Comments
0x01
SYNQ
Sent from controller to all nodes (broadcast) in CYCLIC phase. Provides time synchronization.
0x04
Sent from controller to each node in CYCLIC phase. Provides torque (or velocity, etc.) demands.
0x05
Sent from controller to each node in CYCLIC or DISCOVERY phase. Provides I/O and configuration.
0x80
Sent from each node to controller in CYCLIC phase. Provides position feedback.
0x82
Sent from each node to controller in CYCLIC or DISCOVERY phase. Provides I/O and configuration.
0x20
PROBE
Sent by the controller and repeated by the nodes in VALIDATE phase. Confirms ring integrity (all nodes connected and powered up).
0x21
RESET_REQUEST
Sent by the controller and repeated by the nodes in any network phase. Resets nodes when the controller stops sending this packet.
0x22
RESET_COMPLETE
Sent by the controller and repeated by the nodes in the RESET phase. Confirms that all nodes have completed reset.
0x23
CHANGE
Sent by node (not controller) when changing upstream port selection due to network fault. Sent on new upstream port.

 

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