Kuka Interbus 1.1, Руководство пользователя, Страница: 48 / 65

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Issued: 29.11.2012 Version: KR C4 Interbus 1.1 V2 en (PDF)
Interbus 1.1
be read is less than 4096. If the check of the start address and length fails, a
negative response is returned with the error code 0x0605 (Application error).
If the specified data are correct, they are accepted and a positive response is
returned.
Configuration objects for variable access
If the subindex of the PCP message is 10, user data are to be written to the
MPM output range. Before the data are written to the MPM, the specified ad-
dress range is checked. If the limit of 4096 bytes is to be exceeded, the data
are not accepted and a negative response is returned with the error code
0x0605 (Application error). If the address range is OK, the data are written to
the MPM accordingly and a positive response is returned.
Writing objects for user data
8.6.5 Terminating the connection
The PCP messages PCP_ABORT_IND_CODE and
PCP_REJECT_IND_CODE are received, but the driver does not react to
these messages.
8.6.6 PCP connection settings
When the Interbus is started, the driver checks whether the controller board
slave supports PCP. If so, the PDU size of PCP objects 0x5FFF and 0x5FFE
is changed to 246 bytes.
8.6.7 PCP server response to a fault in the master ring
If the Interbus driver is switched to the inactive state as the result of a fault on
the Interbus, all incoming PCP messages receive a negative response. The
Error_Class and Error_Code word are set to 0x0902.
Index Subindex Meaning of user data Length Default Access
0x5FFF 1 Byte 0: MPM In start address
(high)
Byte 1: MPM In start address
(low)
Byte 2: Length of the MPM
range
3 bytes 0
0
240
Read/
Write
0x5FFF 2 Byte 0: MPM Out start address
(high)
Byte 1: MPM Out start address
(low)
Byte 2: Length of the MPM
range
3 bytes 0
0
240
Read/
Write
Index Subindex Meaning of user data Length Access
0x5FFF 10 Byte 0: MPM Out start address (high)
Byte 1: MPM Out start address (low)
Byte 2: User data 1
...
Byte n: User data n-1
Variable,
max. 240
bytes Read/Write