ifm
Supplementary device manual Interface CANopen in the AS-i controllerE
Function
The fieldbus modules
69
Command 9, 16#9
– change the extended ID code 1 in the connected AS-i slave
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 = 09
2
reserved = 00
reserved = 00
3
16#00
slave address 17 = 16#11
4
16#00
new "extended ID code 1" = 16#08
Example:
1st word: 16#0F09
command number 9,
user ID changes to 15
2nd word: 16#0000 (reserved)
3rd word: 16#0011
slave address 17, = 16#11
4th word: 16#0008
new "extended ID code 1" is 8
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 = 09
Example:
1st word: 16#0F09
reflected command number = 9,
user ID changes to 15
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 = 09
2
reserved
reserved
3
16#00
error code = 16#07
Example:
1st word: 16#8F09
error bit set: error when executing the command
2nd word: 16#0000 (reserved)
3rd word: 16#0007
error code = 16#07: slave does not support extended ID code
Possible error codes:
16#01
no slave response or: master is in the offline mode at the moment of the command call
16#02
no slave with the new address found
16#03
slave with address 0 connected
16#07
error when writing the extended ID code 1
16#09
extended ID code 1 could only be saved temporarily
16#0B
address is invalid
