10 Industrial Ethernet Communication Adapter Modules (ECAM)
10.2 EtherCAT
128
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10.2.3.5 Remote control
One index with 3 elements of 16 bits is reserved for remote control of the
release, accessed via sub index: 0 and index 2166. These three elements
should be written together with a “slave action code” and the corresponding
ones’ complement.
The data format registers, which is an array of 16 bits, are shown below.
Data format for remote control
Index 2166 - Element 1
Index 2166 - Element 2
Index 2166 - Element 3
The “slave action code” and its functioning are listed in
table 73, and
whether it is supported depends on the specific product.
If the “slave action code” and the associated ones’ complement command
are valid, the release will perform the action in question. If the “slave action
code” and the associated ones’ complement command are valid, the release
will perform the action in question. If the “slave action code” and the
associated ones’ complement command are invalid, the exception code can
be queried by requesting the Modbus communication status of the ECAM
from the controller via a dedicated industrial protocol object (via sub index: 0
and index 2167).
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Byte 1 (slave action)
Byte 0 (slave action)
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Ones’ complement of byte 0 (slave action)
Byte 2 (slave action)
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Ones’ complement of byte 2 (slave action)
Ones’ complement of byte 1 (slave action)
￫
For more information on the exception codes, see
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