Festo SFC-LAC CO Series, Руководство пользователя, Страница: 311 / 328

C. Object directory DS204 and CI
C−39
Festo P.BE−SFC−LAC−CO−EN en 0708NH
C.4 The CI interface
Command Interpreter (CI) The commands implemented in the Command Interpreter"
of the SFC−LAC are based on the objects standardized by
CANopen (CiA Draft Standard 402):
Group 1xxx
Device description
Group 2xxx Festo commands
Group 6xxx Commands as per CANopen
The CiA Draft Standard 402" deals with the implementation
of CANopen in drive controllers.
Object directory The total of all parametrizing and control possibilities is
referred to as the object directory. A unique number (index,
subindex) is assigned to each object which has access to the
object.
Access procedure The higher−order controller sends the controller either a write
command (WRITE) to modify a parameter in the object
directory, or a read command (READ) to read out a parameter.
For each command the higher−order controller receives a re
sponse which either contains the value read or, in the case of
a write command, serves as an acknowledgement. The trans
mitted value (1, 2 or 4 data bytes) depends on the data type
of the object to be read or written.