Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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11-14
Command Communications ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
The slave responds with a "Read Response" that contains no data. This
response indicates to the master that the slave is again ready to receive
additional data. Each time, the status word is a copy of the control word,
for which the length was set to 0 and the L-Bit was set.
Status Word Service Data
C E R L T Length Format
Data Data Data Data Data Data Data Data Data Data
S 0 0 0 0 0 1 0 1 0 0 0 0 1 0 1 1 x x x x x x x x x x
Fig. 11-26: "Write Response" From the Slave
Now, the master can send the rest of the data in the next "Write
Request." The master must change the status of the toggle bit again and
the length must be indicated accordingly. The L-Bit is set, because the
system is processing the last fragment.
Control Word Service Data
C E R L T Length Format Data Data Data Data Data Data Data Data Data Data
M 0
0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 50 20 x x x x x x x x
P _
Fig. 11-27: "Write Request" From the Master (Second Fragment)
The slave now has all the information to process the master’s request. To
confirm successful execution of the service to the master, the slave sends
a "Write Response," which consists of the status word, to the master.
Status Word Service Data
C E R L T Length Format Data Data Data Data Data Data Data Data Data Data
S
0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 1 x x x x x x x x x x
Fig. 11-28: "Write Response" From the Slave
If the error bit is not active, the transmission is completed successfully.
However, as for the "Serial Interface," it is still possible to request a
transmission confirmation.
Status/Control Word Service Data
C E R L T Length Format Data Data Data Data Data Data Data Data Data Data
M 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1 x x x x x x x x x x
S
0 0 0 1 0 1 0 1 0 0 1 0 1 0 1 1 59 20
Y _
Fig. 11-29: Transmission Confirmation