ifm
Supplementary device manual Interface CANopen in the AS-i controllerE
Function
The fieldbus modules
78
Mux field = number of multiplexed data words
Length: 3 bits
P
ermitted values: 0…3
Meaning: number = value in "Mux field" +1
E type = characterises the slave as regards functionality and data structure
Length: 5 bits
Permitted values: 0...31
Meaning:
0 = reserved
1 = transmitted values are measured values
2 = transmitted values are 16 digital bit values
3 = normal operation in 4-bit mode (4I/4O)
4...31 = reserved
I/O = direction of data for the devices with E type
≠ 3
Length: 1 bit
Permitted values: 0/1
Meaning:
0 = input,
1 = output
Number of parameters to be read = number of bytes which can be read as a parameter string
Length: 8 bits
Permitted values: 0...219
Meaning:
0 = no parameter string readable,
1...219 = number of bytes
Number of parameters to be written = number of bytes which can be written as a parameter string
Length: 8 bits
Permitted values: 0...219
Meaning:
0 = no parameter string readable,
1..219 = number of bytes
2D = double data transfer (redundancy) possible
Length: 1 bit
Permitted values: 0/1
Meaning:
0 = simple data transfer
1 = double data transfer
DT start = triple start (information for the driver in the master)
DT count = number of data triples (information for the driver in the master)
EDT Read = reserved for later profiles
EDT Write = reserved for later profiles
Diag = slave supports the 7.4 diagnosis string
Length: 1 bit
Permitted values: 0/1
Meaning:
0 = diagnosis string is not supported
1 = diagnosis string is supported
Manufacturer identification = defined manufacturer number assigned by AS-International
Device-specific information = as an option more bytes for the device-specific device description
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 =
0/1
user ID
reflected command number = 16#15
2
reserved
reserved
3
16#00
error code
Example:
1st word: 16#8A03
error bit set: error when executing the command
2nd word: 16#0000 (reserved)
3rd word: 16#0014
error code = 16#0014: invalid S-7.4 command / master not in the normal mode