3.5.2.1 Structure of the output data (PDO)
During operation of a Motion App, the 6 bytes of output data (PDO) per valve slot are divided into 3
sections:
– Command (
è
Tab. 41 Detailed view of the "Command" section of the output data (PDO))
– Setpoint value 1
– Setpoint value 2
Valve on one of the slots 0 … 7
Byte 5 Byte 4 Byte 3 Byte 2 Byte 1 Byte 0
Setpoint value 2 Setpoint value 1 Command
Tab. 40: Structure of the output data (PDO) per valve
The following table is a detailed view of the "Command" section.
Detailed view of the Command section
PDO byte 1 PDO byte 0
Command
Bit
7
Bit
6
Bit
5
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
Bit
7
Bit
6
Bit
5
Bit
4
Bit
3
Bit
2
Bit
1
Bit
0
app option app con-
trol
valve mode
Tab. 41: Detailed view of the "Command" section of the output data (PDO)
Operating mode of the valve (valve mode)
The operating mode of the valve (valve mode) is specified by bits 5 … 0 in byte 0 (PDO).
This section is allocated the same function in every operating mode and is of central importance for
the control of the Motion Terminal. Allocation of the other sections depends on the current operating
mode of the valve.
Value dec. Operating mode of the
valve
Description
0 reserved Invalid value
1 … 59 Running a Motion App
(value corresponds to
Motion App ID)
Selection of the Motion App to be run by its ID. The set-
point values required to run the Motion App are trans-
ferred using bytes 5 … 2 (PDO).
60 Teach-in run Teach-in of the relevant characteristics of the connected
system for execution of particular Motion apps.
61 End Motion App Ending the Motion App currently running on the valve.
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