IFM Electronic Ecomot300 AC2630, Supplementary Device Manual

Page: 84 / 111

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Function The fieldbus modules
84
Command 54, 16#36
– read current parameters of a 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 = 54 (16#36)
2…18 not used not used
Example:
1st word: 16#0636
command number 16#36,
user ID changes to 6
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#36
2
reserved reserved
3
parameters slave 4(A) parameters slave 3(A) parameters slave 2(A) parameters slave 1(A)
4
parameters slave 8(A) parameters slave 7(A) parameters slave 6(A) parameters slave 5(A)
5
parameters slave 12(A) parameters slave 11(A) parameters slave 10(A) parameters slave 9(A)
6
parameters slave 16(A) parameters slave 15(A) parameters slave 14(A) parameters slave 13(A)
7
parameters slave 20(A) parameters slave 19(A) parameters slave 18(A) parameters slave 17(A)
8
parameters slave 24(A) parameters slave 23(A) parameters slave 22(A) parameters slave 21(A)
9
parameters slave 28(A) parameters slave 27(A) parameters slave 26(A) parameters slave 25(A)
10
parameters slave 1B parameters slave 31(A) parameters slave 30(A) parameters slave 29(A)
11
parameters slave 5B parameters slave 4B parameters slave 3B parameters slave 2B
12
parameters slave 9B parameters slave 8B parameters slave 7B parameters slave 6B
13
parameters slave 13B parameters slave 12B parameters slave 11B parameters slave 10B
14
parameters slave 17B parameters slave 16B parameters slave 15B parameters slave 14B
15
parameters slave 21B parameters slave 20B parameters slave 19B parameters slave 18B
16
parameters slave 25B parameters slave 24B parameters slave 23B parameters slave 22B
17
parameters slave 29B parameters slave 28B parameters slave 27B parameters slave 26B
18
not used not used parameters slave 31B parameters slave 30B
Example:
1st word: 16#0636
reflected command number = 16#36,
user ID changes to 6
2nd word: 16#00FF (reserved)
3rd word: 16#4321
parameters from slave (value = 1) to slave 4 (value = 4)
4th word: 16#8765
parameters from slave (value = 5) to slave 8 (value = 8)
...
9th word: 16#6543
parameters from slave 29(A) (value = 3) to slave 31(A) (value = 5), slave 1B (value = 6)
...
17th word: 16#FE98
parameters from slave 26B (value = 8) and slave 29B (value = F)
18th word: 16#0098
parameters from slave 30B (value = 8) and slave 31B (value =9)