ifm
Supplementary device manual Interface CANopen in the AS-i controllerE
Function
The fieldbus modules
83
Command 50, 16#32
– read current configuration AS-i slaves 0(A)…15(A)
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 = 50 (16#32)
2
reserved = 00
reserved = 00
3...18
not used
not used
Example:
1st word: 16#0232 (command number 16#32, user ID changes to 2)
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 = 16#32
2
reserved
reserved
3
slave 0, ID2
slave 0, ID1
slave 0, ID code
slave 0, IO conf.
4
slave 1(A), ID2
slave 1(A), ID1
slave 1(A), ID code
slave 1(A), IO conf.
5…17
...
...
...
...
18
slave 15(A), ID2
slave 15(A), ID1
slave 15(A), ID code
slave 15(A), IO conf.
Example:
1st word: 16#0232
reflected command number = 16#32,
user ID changes to 2
2nd word: 16#00FF (reserved)
3rd word: 16#FFFF
current configuration slave 0:
ID2 =F, ID1=F, ID=F and IO=F
4th word: 16#EF03
current configuration slave 1(A):
ID2 =E, ID1=F, ID=0 and IO=3
...
18th word: 16#EF37
current configuration slave 15(A):
ID2 =E, ID1=F, ID=3 and IO=7
Command 51, 16#33
– read current configuration AS-i slaves 16(A)…31(A)
→ command 50
Command 52, 16#34
– read current configuration AS-i slaves 0...15B
→ command 50
Acyclic command 53 (16) - read current configuration AS-i slaves 16B...31B
→ command 50