Jenaer Antriebstechnik ECOSTEP 54, Руководство пользователя, Страница: 46 / 48

User Manual ECOSTEP®54
46
Subject to change without notice!
9.2.2 Upload Request (Data Transfer from Slave to Host)
Upload from not existing objects is responded with an error message.
Th e host sends:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
CMD INDEX SUBINDEX reserved
CMD specifi es the direction of data transfer
0x40 read access (always)
INDEX 16 bit value, index in object dictionary where requested data reside
SUBINDEX 8 bit value, subindex of index in object dictionary where requested data reside
reserved byte 4 ... 7, not used
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 Data LSB MSB
RES displays slave response, possible values are::
0x43 bytes 4 ... 7 contain 32 bit value
0x4B bytes 4 and 5 contain 16 bit value
0x4F byte 4 contains 8 bit value
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
DATA data or error cause, depending on RES
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Transmit: 40 41 60 00 00 00 00 00
Receive: 4B 41 60 00 37 40 00 00
Value of the status word : 0x4037 (axis switched on, no error)
Table 9.2: Example: Reading the status word (0x6041,00)