SCHUNK Motion protocol
05/STM-48V/en/2011-04-01/CW 59
11 SCHUNK Motion protocol
11.1 Description
Figure 40
The data frame of the Motion protocol always includes the follow-
ing elements:
• D-Len (1-byte)
• Command Code (1 byte)
D-Len (Data Length) specifies the number of subsequent items of
user data including the command byte. The data frame consists
of one byte, therefore a Motion protocol message can transfer a
maximum of 255 data bytes.
The D-Len byte is always followed by the command code, con-
sisting of one byte. If necessary, the command code is followed
by the relevant parameters required. If required, a "master com-
mand" can be extended with a "sub-command".
All commands sent are immediately confirmed by the module with
a response (acknowledge). This response also uses the data
frame described above (D-Len, command code, any parameters).
If the request has been successfully processed, D-Len always
has a value that is not equal to "0x02". If the request failed, D-Len
has the value "0x02".
Notes
The special features of the different bus systems are described in
MotionControl.pdf (see DVD, Document: MotionControl.pdf).
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