Download SCHUNK Motion

Manual
SCHUNK Motion Software
2.2.2
CMD MOVE BLOCKED (0x93)
Code: 0x93
Description: The module is standing still. Any previous movement is halted
and the module is stopped.
Parameter (master -> slave): none
Response (slave -> master): Position (current position) in the configured
unit system (section 1.4)
Example:
S->M
D-Len
0x05
Cmd
0x93
Param
0xA4 0x70 0x9D
0x3F
Will stand still in
position 1.23 [mm]
Note: This message is generated each time a movement is aborted and the
module is blocked (for example, while gripping an object). The requirements
for a blocked state are:
∙ The module moved with velocity over Motion Threshold” (section 3.2.6.7)
”
.
∙ The velocity was under Motion Threshold” (section 3.2.6.7) for at least
”
250 [ms].
∙ The difference between the measured and the given currents must be under
a given threshold value.
2.2.3
CMD POS REACHED (0x94)
Code: 0x94
Description: The module is standing still. A positioning movement has reached
the target position.
Parameter (master -> slave): none
Response (slave -> master): Position (current position) in the configured
unoit system (section 1.4)
Example:
S->M
2.2.4
D-Len
0x05
Cmd
0x94
Param
0xCD 0xCC 0x2C
0x40
Have reached position 2.7 [mm].
CMD ERROR (0x88)
Code: 0x88
Description: A serious error requiring operator intervention has occurred.
Such errors must be acknowledged with CMD ACK” (section 2.8.1.4) The
”
32
print date 8th March 2010