ifm
Supplementary device manual Interface CANopen in the AS-i controllerE
Function
The fieldbus modules
80
Command 21, 16#33
– read diagnosis string of an AS-i slave with profile S-7.4
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
S = 0
M
user ID
command number = 33 (16#21)
2
R
R
R
AS-i slave address
R
R
length to be sent (here = 0)
3…18
not used
not used
Bit S in the first word signals the receiver that a large data packet is transmitted in several partial sequences:
S = 1: data transmission not yet completed, at least one more packet follows.
S = 0: data transmission completed.
Example:
1st word: 16#0721
S = 0: sequence here always 0,
command number 16#21,
user ID changes to 7
2nd word: 16#0300
slave address 3
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
S
M
user ID
reflected command number = 16#21
2
TG
R
AS-i slave address
F
R
R
number of bytes to be received
3
diagnosis string 1
diagnosis string 0
4…16
diagnosis string 2...27
17
diagnosis string 29
diagnosis string 28
18
reserved
reserved
Example:
1st word: 16#0721
S = 0: last sequence, reflected command number 16#21,
user ID changes to 7
2nd word: 16#0608
slave address shifted 1 bit to the left = 6,
8 bytes of diagnosis data
or:
2nd word: 16#8608
the most significant bit changes after every execution
3rd word: 16#2D01
1st word of the diagnosis data of slave 3
4th word: 16#0203
2nd word of the diagnosis data of slave 3
5th word: 16#1122
3rd word of the diagnosis data of slave 3
6th word: 16#3344
4th word of the diagnosis data of slave 3
NOTE
The control bytes defined in profile 7.4 with follow and valid bits are filtered out by the system.
