AC Tech Lenze MotionView OnBoard, Communications Interface Reference Manual

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1
P94DVN01A
Cyclic Data Access
5.2.4 Byte 3 - Response Type
Response Axis (bits 7 to 5)
The values of these bits should be always 001 since the PositionServo has only 1 axis per drive.
Response Assembly Type (bits 4 to 0)
The Response Assembly Type ranges from 0x0 to 0x14 as listed in Table 12.
Table 12: Response Assembly Type
Type Response Description Note
0x0 NOP
0x1 Actual Position Returns the Actual Position PID 215 (APOS)
0x2 Commanded Position Returns the Target Position PID 214 (TPOS)
0x3 Actual Velocity Returns the Actual Velocity PID 260 (VELOCITY_ACTUAL)
0x4 Torque Returns the Torque calculated as
Torque = PID 188 (PHCUR) * PID 20 (M_KT)
0x5 940 Status Returns the 940 status PID 54 (STATUS)
0x6 940 Extended Status Returns the 940 status PID 83 (EXSTATUS)
0x7 940 Position Error Returns the 940 PID 216 (POSERROR)
0x8 940 User Variable V1 Returns the 940 PID 101 (V1)
0x14 Command/Response Error This response is returned if any fault occurs or the last
sent command is unsupported
In this case byte 6 of the response assembly
has copy of the command message byte 2
and byte 7 of the response assembly has
copy of the command message byte 3
Bytes 4 and 5 of the response assembly
contain the 940 Fault Code.
Fault Code (43) is returned when a malformed
DeviceNet Polled I/O message is detected.
5.2.5 Bytes 4 through 7 - Data
These 4 bytes contain the actual response data in little endian format. For the receiving node to reconstruct the
32-bit data value as it was originally transmitted, parameters are transmitted in four 8-bit bytes in the order
of the lowest byte first and the highest byte last. Said another way, in little endian format, the least significant
byte is stored at the lowest address.
Endian Format 16-bit Value 32-bit Value
Byte Order Word Order Byte Order
Little Low byte first
High byte second
Low word first
High word second
Low byte first
Mid low byte second
Mid high byte third
High byte fourth