ifm
Supplementary device manual Interface CANopen in the AS-i controllerE
Function
The fieldbus modules
63
Command 1, 16#1
– write parameters to a connected AS-i slave (change current slave
parameters)
Request from the host >> controllerE:
Word no.
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
1
R
R
M
user ID
command number = 1
2
reserved = 0
reserved = 0
3
16#00
AS-i slave 4B = 16#24
4
16#00
parameter value to be written = 16#03
Example:
1st word: 16#0901
command number 1,
AS-i master 1 (M=0),
user ID changes from 0 to 9
2nd word: 16#0000 (reserved)
3rd word: 16#0024
slave address 4
B
(for B slaves: add 16#20 (bit 5 = 1)!)
4th word: 16#0003
parameter value to be written
Response controllerE >> host:
Word no.
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
1
E = 0 B = 0
M
user ID
reflected command number = 01
2
reserved
reserved
3
16#00
parameter value read back = 16#03
Example:
1st word: 16#0901
reflected command number = 1,
user ID changes from 0 to 9
2nd word: 16#0000 (reserved)
3rd word: 16#0003
parameter value read back; might differ from the value to be written (so-called reflected parameters)
Response controllerE >> host in case of a fault:
Word no.
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
1
E = 1 B = 0
M
user ID
reflected command number = 01
2
reserved
reserved
3
16#00
error code = 16#0A
Example:
1st word: 16#8901
error bit set: error when executing the command
2nd word: 16#0000 (reserved)
3rd word: 16#000A
error code 16#0A: slave is not in LAS
Possible error codes:
16#01
no slave response or master is in the offline mode at the time of the command call
16#0A
slave is not in the LAS
16#0B
parameter or address invalid
16#14
master in the wrong operating mode, here: is not in the normal mode
