Jenaer Antriebstechnik ECOSTEP 54, Руководство пользователя, Страница: 45 / 48

Subject to change without notice!
User Manual ECOSTEP®54
45
9.2.1 Download Request (Data Transfer from Host to Slave)
Any access to object dictionary is checked for validity by slave. Downloads to not existing objects,
readonly objects or data type mismatches are denied and responded with error messages.
Th e host sends:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
CMD INDEX LSB MSB SUBINDEX DATA LSB ..MSB
CMD specifi es the direction of data transfer and the size of data object
possible values are:
0x23 sending 4 bytes data (bytes 4 ... 7 contain 32 bit value)
0x2B sending 2 bytes data (byte 4 and 5 contain 16 bit value)
0x2F sending 1 byte data (byte 4 contains 8 bit value)
INDEX 16 bit value, index in object dictionary where data should be placed
SUBINDEX 8 bit value, subindex of index in object dictionary where data should be placed
DATA 8, 16, or 32 bit value
Th e slave answers:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
RES INDEX LSB MSB SUBINDEX reserved
RES displays slave response, possible values are:
0x60 data successfully sent
0x80 error, bytes 4...7 contain error cause
INDEX 16 bit value, index in object dictionary, copy of index in host telegram
SUBINDEX 8 bit value, subindex of index in object dictionary, copy of index in host
telegram
reserved not used or error cause, depending on RES
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Transmit: 0x2B 0x40 0x60 0x00 0x06 0x00 0x00 0x00
Receive: 0x60 0x40 0x60 0x00 0x00 0x00 0x00 0x00
Table 9.1: Example: Writing to the control word (6040,00) value = 0x06 (axis off)