Communication via: TCP port 10001
REFGO is a simple text-based protocol (ASCII protocol) for configuring and operating the MovingCap servo drive.
Command format (using TP / “Tell Position” as an example):
TP<CR>
Response format:
TP<CR><LF>
106019<CR><LF>
>
With
<CR> = carriage return / ASCII code decimal 13 / hexadecimal 0D / no visible character!
<LF> = line feed / ASCII code decimal 10 / hexadecimal 0A / no visible character!
The prompt character > terminates the MovingCap response and indicates that MovingCap is ready for the next command.
NOTE: Server port 10001 accepts multiple connections simultaneously. However, MovingCap’s response is always sent only to the connection from which the most recent request was received. This makes it easier to establish new connections in the event of network interruptions, but it is not designed or intended for use as a server serving multiple clients. For additional or parallel custom connections, you can establish additional connections in MovingCap CODE using the mcnet module.
NOTE: MovingCap ETH drives must be operated on a fully isolated, trusted industrial network, as they do not support encrypted HTTPS or TLS connections.
