IFM Electronic Ecomot300 AC2630, Дополнительное руководство по устройству, Страница: 65 / 111

ifm Supplementary device manual Interface CANopen in the AS-i controllerE
Function The fieldbus modules
65
Command 4, 16#4
– change the list of the projected AS-i slaves (LPS)
Request from the host >> controllerE:
Word no.
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1
R R M user ID command number = 04
2
reserved = 00 reserved = 00
3
15(A) 14(A) 13(A) 12(A) 11(A) 10(A) 9(A) 8(A) 7(A) 6(A) 5(A) 4(A) 3(A) 2(A) 1(A) res
4
31(A) 30(A) 29(A) 28(A) 27(A) 26(A) 25(A) 24(A) 23(A) 22(A) 21(A) 20(A) 19(A) 18(A) 17(A) 16(A)
5
15B 14B 13B 12B 11B 10B 9B 8B 7B 6B 5B 4B 3B 2B 1B res
6
31B 30B 29B 28B 27B 26B 25B 24B 23B 22B 21B 20B 19B 18B 17B 16B
Example:
1st word: 16#0204
command number = 4,
user ID changes to 2
2nd word: 16#0000 (reserved)
3rd word: 16#003E
slaves 1 to 5 are to be projected
4th word: 16#8000
slave 31(A) is to be projected
5th word: 16#0002
slave 1B is to be projected
6th word: 16#0001
slave 16B is to be projected
Response controllerE >> host:
Word no.
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1
E = 0 B = 0 M user ID reflected command number = 04
Example:
1st word: 16#0204
reflected command number = 4,
user ID changes to 2
Response controllerE >> host in case of a fault:
Word no.
Bit
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1
E = 1 B = 0 M user ID reflected command number = 4
2
reserved reserved
3
16#00 error code = 16#14
Example:
1st word: 16#8204
error bit set: error when executing the command
2nd word: 16#0000 (reserved)
3rd word: 16#0014
error code 16#0014: master is not in the projection mode
Possible error codes:
16#14
master in the wrong operating mode, here: is not in the projection mode