|
Amplifier (Drive) Telegram
Drives respond to the Master Synchronization Telegrams
via an Amplifier Telegram (AT) sent to the master.
At a predetermined time after the MST, the first drive
in the system places its data in its pre-determined
slot. Each drive follows in succession, all synchronized
off the MST.
A drive telegram is composed of five main fields:
- Beginning of Frame (BOF)
- Drive Address (ADR)
- Data Record
- Frame Check Sequence (FCS)
- End of Frame (EOF)
Amplifier (Drive) Telegram
Structure
The data record is composed of both
fixed and variable data in three fields:
- Status – The eight-bit status field indicates
whether the drive is ready, and verifies that it
is in the correct operating mode.
- Drive service info – This two-byte service channel
field contains non time-critical data such as torque
limits, travel limits, time constants and gains.
- Operation data – This is the most important field,
containing from 1 to 16 IDNs reporting data such
as speed, torque and position measurements to the
master, effectively closing the control loop. For
example, if the drive is operating in velocity mode,
meaning it receives velocity information from the
motion control, it may be configured with current
actual velocity in the drive telegram. Because all
drives take their measurements at the same time,
the control can construct an instantaneous snapshot
of all axes of motion.
 |
|
Page 3
|
|
|
|
