SICK PLOC2D 4.1 - PROFINET and Ethernet;Ip Communication Specification; Register Layout

12.2 PROFINET and EtherNet/IP communication specification
This chapter defines the layout for data transmitted over PROFINET and EtherNet/IP.
A GSDML file for PROFINET and an EDS file for EtherNet/IP file is available from
supportportal.sick.com
Conventions and definitions
•
By default, Protocol version is using telegram ID. Control bits can be enabled for
legacy installations, see "Fieldbus configuration", page 55.
•
By default, integers use big-endian byte ordering, see "Fieldbus configuration",
page 55.
•
Distances are measured in millimeters but typically represented using signed
integers where each integer step means one thousand of a millimeter (e.g.
12345=12.345mm).
•
Rotations are measured in degrees but typically represented using signed
integers where each integer step means one thousand of a degree (e.g.
-54321=-54.321degrees).
12.2.1 Register layout
This applies when the default Protocol version, "Using telegram ID", is selected in "Field‐
bus configuration", page 55.
The data is divided into three sections:
•
Command IDs
•
Command data
•
Result data
Table 7: Command IDs
Command ID Command
330
Alignment.Align
332
Alignment.Verify
334
Alignment.LocateTarget
340
Alignment.HandEye.Pose.Add
350
Alignment.HandEye.Calculate
435
Job.Import
436
Job.Export
440
Job.PartReferencePoint.Set
520
Run.Locate
521
Run.LocateAll
931
System.Ftp.Export
920
System.Restart.Software
Table 8: Command data
Byte(s) Parameter Interpretation
0-1
command
A 16-bit unsigned integer representing the ID of a command. See
table 7.
2-3
job
A 16-bit unsigned integer representing the selected job ID for com‐
mands that need it. Set job = 0 to locate all configured jobs and
return the first result, see the command Run.Locate in table 2.
4
alignment
An 8-bit unsigned integer representing the alignment ID for commands
that need it.
5
match
An 8-bit unsigned integer representing the match number in prioritized
order (for the command Run.Locate).
APPENDIX 12
8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1
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Subject to change without notice