23.6.17
UNIGATE
®
Feldbus-Gateway UNIGATE
®
CM - PROFIBUS V. 1.6
51
Deutschmann Automation GmbH & Co. KG
Implemented protocols in UNIGATE® CM
1. Byte number of received data from CAN (Low Nibble)
MSB = 0 => 11Bit Frame received
2. Byte not used
3. Byte not used
4. Byte COB-ID High Byte
5. Byte COB-ID Low Byte
6. Byte Data n
7. Byte Data n+1
8. …
Example 1. Line: 8 Payload, COB-ID 181, Payload 11 … 88
Example 2. Line: 3 Payload, COB-ID 203, Payload 01 02 03
08 00 00 01 81 11 22 33 44 55 66 77 88
03 00 00 02 03 01 02 03 00 00 00 00 00
Data display on the fieldbus side (SPS receives from CAN) “29 Bit Mode”:
1. Byte number of received data from CAN (Low Nibble)
Bit 7 (MSB) = 1 => 29Bit Frame received
Bit 6 = RTR
Bit 5 … 0 = not used
2. Byte COB-ID High Byte
3. Byte COB-ID
4. Byte COB-ID
5. Byte COB-ID Low Byte
6. Byte Data n
7. Byte Data n+1
8. …
Example 1. Line: MSB = 1 => 29 Bit Frame, 8 Payload, COB-ID 181, Payload 11 … 88
Example 2. Line: MSB = 1 => 29 Bit Frame, 3 Payload, COB-ID 203, Payload 01 02 03
88 00 00 01 81 11 22 33 44 55 66 77 88
83 00 00 02 03 01 02 03 00 00 00 00 00
SPS sends a 29 Bit data frame to COB-ID 456, 5 payload, data 01 02 03 04 05
Example:
SPS (Out): 85 00 00 04 56 01 02 03 04 05
To CAN Bus:
Содержание UNIGATE CM - PROFIBUS
Страница 2: ...Manual Art Nr V4009E ...
Страница 62: ......