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.
|
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. |
