Message structure

The configurability of the real-time data allows any other operating modes to be used independently. Service data is exchanged only at the request of the master.

Service data is transmitted with a handshaking procedure in 2, 4, 6 or 8-byte portions in the service info field and then reassembled at the receiver. NRZI-coded HDLC protocols are used for communication. In each communication cycle, the real-time data is transmitted in the so-called configurable data field.

At initialization, the identification number system specifies which real-time data is transmitted. Apart from numerical data such as command values and actualvalues, these can also be bit lists with I/O instructions.

Priority messages with specific real-time data have been specified for the three basic operating modes - torque control,velocity control and position control - as well as combined velocity/position control.