3 Protocol description
15-04-2016 27 7000.05052
Example:
An emergency message with the user data assignment inTab. 26, p. 27 is sent in the
following event:
In the Error Mask 0x2321, bit 1 (following error) is set under sub-index 1 (emergency
mask) (see Tab. 34, p. 30).
The control deviation value set in object 0x6065.00 for the position regulator corridor
has been exceeded for an extended period as defined by the value set for the error
delay time in object 0x6066.00 (see the Functional Manual).
Tab. 26: Example of user data assignment to an emergency message
8 bytes user data
0x11
0x86
0x20
0x02
0x00
0x00
0x00
0x00
3.5
Device control
3.5.1
Boot-up message
Immediately after the initialisation phase the Motion Controller sends a boot-up
message. A boot-up message signals the end of the initialisation phase of a module after
it has been switched on.
The boot-up message cannot be sent in RS232 network operation.
Tab. 27: Structure of a boot-up message
Byte
Contents
Description
1
Length
User data length >4 bytes
2
Node number
Node number
3
0x00
Command boot-up
4-N
Device Name
Equipment name as boot-up message
(N+1)
CRC
Check sum
3.5.2
Reset Node
A soft reset can be performed by the master by means of the following telegram:
Tab. 28: Structure of a reset node message
Byte
Contents
Description
1
4
User data length 4 bytes
2
Node number
Node number
3
0x00
Command boot-up
4
CRC
Check sum