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) |
|
