Faulhaber MC 5010, Руководство по связи, Страница: 28 / 43

3 Protocol description
15-04-2016 28 7000.05052
3.5.3 Device Control
Device Control can be used to perform status changes and to read the current status.
Tab. 29: Request Write controlword (object 0x6040.00 in the object dictionary)
Byte Contents Description
1 6 User data length 6 bytes
2 Node number Node number
3 0x04 Command Controlword
4 Controlword LB New control word value to Cia402
5 Controlword HB New control word value to Cia402
6 CRC Check sum
Tab. 30: Response
Byte Contents Description
1 5 User data length 5 bytes
2 Node number Node number
3 0x04 Command Controlword
4 Error Error code: 0 = OK
5 CRC Check sum
When the status changes, the statusword is sent asynchronously by the drive. This cannot
be interrogated directly (the command SDO Read can be used for this).
Tab. 31: Receive statusword (object 0x6041.00 in the object dictionary)
Byte Contents Description
1 6 User data length 6 bytes
2 Node number Node number
3 0x05 Command Statusword
4 Statusword LB Current value of the status word in accordance with CiA402
5 Statusword HB Current value of the status word in accordance with CiA402
6 CRC Check sum
3.6 Entries in the object dictionary
The object dictionary manages the configuration parameters. The object dictionary is
divided into three areas. Each object can be referenced by its index and sub-index (SDO
protocol).

The communication parameters area (index 0x1000 to 0x1FFF) contains
communications objects to CiA 301 (see chap. 7.1, p. 38)

The manufacturer-specific area (index 0x2000 to 0x5FFF) contains manufacturer-
specific objects (see chap. 7.2, p. 41)
 The standardised device profiles area (0x6000 to 0x9FFF) contains objects supported
by the Motion Controller (see the documentation of the drive functions)