ifm
Supplementary device manual Interface CANopen in the AS-i controllerE
Function
The fieldbus modules
67
Command 6, 16#6
– readdress a connected AS-i slave
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 = 06
2
reserved = 00
reserved = 00
3
16#00
old slave address 9B = 16#29
4
16#00
new slave address 11A = 16#0B
Example:
1st word: 16#0806
command number 6,
user ID changes to 8
2nd word: 16#0000 (reserved)
3rd word: 16#0029
old slave address 9B, for B slaves: add 16#20
4th word: 16#000B
new slave address 11A
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 = 06
Example:
1st word: 16#0806
reflected command number = 6,
user ID changes to 8
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 = 6
2
reserved
reserved
3
16#00
error code = 16#03
Example:
1st word: 16#8806
error bit set: error when executing the command
2nd word: 16#0000 (reserved)
3rd word: 16#0003
error code = 16#03: slave with address 0 connected
Possible error codes:
16#01
no slave response or: master is in the offline mode at the moment of the command call
16#02
no slave with the old address found
16#03
slave with address 0 connected
16#04
no slave with the new address found
16#05
error when deleting the old address
16#06
error when reading the IO configuration
16#07
error when writing the new address or extended ID code 1
16#08
new address could only be saved temporarily
16#09
extended ID code 1 could only be saved temporarily
16#0B
parameter or address invalid
16#14
master in the wrong operating mode, here: is not in the normal mode
