Balluff BTL6-V55 Series, Руководство по настройке

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4.4 TSDO mapping
Offset Format Message part Name Description
0 Byte
Header
Message Counter
Bit 0…5: Counter
Bit 6, 7: Reserved
Incremented after each message
0…63
Not used
1 Byte
Length of data Length of the data to be read by the manager starting at
offset 0x08.
2 Byte
Command
Opcode
Bit 0: Read
Bit 1: Write
Bit 3: Reserved
Bit 4: Error
Bit 5…7: Reserved
Command type to which the client answers
Read request
Write request
Not used
True in case of error (see offset 8, 9); for error codes, see
Tab. 4-6
Not used
3 Byte Channel Number Requested subindex
4
Word Object ID ID of the requested object
5
6
Word Dummy Reserved
7
8
Data
Data/Error code
Write request: Empty or error code (Length of Data = 2) if
error occurred (byte 2, bit 2 is set).
Read request: Requested data or error code
(Length of Data = 2) if error occurred.
For error codes (unsigned 16 Bit), see Tab. 4-6
9
10
Data …
31
Tab. 4-5: TSDO mapping
Error code Description
0 Reserved
1 Object ID not supported
2 Channel number out of range
3 Object not writeable
4 Error in length of data
5 Command error e.g. invalid opcode
Tab. 4-6: Implemented error codes
4
Data object mapping (continued)
BTL6-V55V…
Configuration