SCHUNK STM 48V - Most Important Commands

SCHUNK Motion protocol
60 05/STM-48V/en/2011-04-01/CW
11.1.1 Most important commands
DANGER
Risk of injury when the machine/system moves
unexpectedly due to incorrect programming!
 Only specialist personnel or specially trained staff should
carry out settings and enter parameters.
Notes
In all examples, only the necessary parameters are listed, not the
optional parameters. In the examples, "M" stands for master and
"S" for slave (= module).
Command Code: 0x92
Description: A referencing is executed.
Parameters (Master ► Slave): None.
Response (Slave ► Master): "OK" (0x4F4B) if successful. The
module executes the command.
Miscellaneous: Spontaneous response possible.
D-Len
Cmd
Param
Meaning
M ► S
0x01
0x92
S ► M
0x03
0x92
0x4F 0x4B
Successfully referenced
Table 26 Example for REFERENCE
Command Code: 0xB0
Description: Moves the module to a specified position.
Parameters (Master ► Slave):
• Position in configured unit system (must be specified)
• Velocity (optional)
• Acceleration (optional)
• Current (optional)
• Jerk (optional)
Response (Slave ► Master): If possible, the time that the mod-
ule needs for the movement is returned.
Referencing
Positioning