STATUS Packet
The STATUS packet is sent from each node to the contoller in CYCLIC phase. It is also used for configuration in DISCOVERY phase. The STATUS packet contains only service channel data in DISCOVERY phase. In CYCLIC phase, it also contains vaious I/O data: I/O inputs, capture 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 0x82 STATUS |
8
|
Header (Fixed) | |
| nodeAddress |
8
|
||
| serviceStatus |
16
|
serviceStatus (all modules) |
Service (Required) |
| serviceResponse |
32
|
serviceResponse (all modules) |
|
| dedicatedIn |
16
|
dedicatedIn | Axis[0] Configurable |
| ioIn |
16
|
ioIn | |
| monitorA |
16
|
monitorData | |
| monitorB |
16
|
||
| monitorC |
16
|
||
| adc |
16
|
adcData | |
| capture0 |
32
|
captureData capture2 Module |
|
| captureN (up to 16 captures, default=2) |
32
|
||
| captureStatus |
16
|
captureStatus capture2 Module |
|
| compareStatus |
16
|
compareStatus compare2 Module |
|
| 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) |