Firmware
≤
11.00 - DMS 8.0 EN - 10/2011
L
459
8400 StateLine C | Reference manual
System bus "CAN on board"
Parameter data transfer
10.9.2.1
Command
The following commands can be transmitted or received for writing and reading the
parameters:
More precisely, the command byte comprises the following information:
Tip!
More commands are defined in CANopen specification DS301, V4.02 (e.g.
segmented transfer).
1st byte
2nd byte 3rd byte
4th byte
5th byte
6th byte
7th byte
8th byte
Command
Index
Subindex
Data 1
Data 2
Data 3
Data 4
LOW byte
HIGH
byte
LOW word
HIGH word
LOW byte
HIGH byte
LOW byte
HIGH byte
Command
1st byte
Data length Info
hex
dec
Write request
0x23
35
4 bytes
Writing of a parameter to the controller.
0x2B
43
2 bytes
0x2F
47
1 byte
0x21
33
Block
Write response
0x60
96
4 bytes
Controller acknowledges a write request.
Read request
0x40
64
4 bytes
Reading of a parameter from the controller.
Read response
0x43
67
4 bytes
Controller's response to a read request with the current
parameter value.
0x4B
75
2 bytes
0x4F
79
1 byte
0x41
65
Block
Error response
0x80
128
4 bytes
Controller's response if the write/read request could not be
executed correctly.
Error messages (
462)
Command
1st byte
Command specifier (cs)
Toggle (t)
Length*
e
s
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Write request
0
0
1
0
0/1
0/1
1
1
Write response
0
1
1
0
0
0
0
0
Read request
0
1
0
0
0
0
0
0
Read response
0
1
0
0
0/1
0/1
1
1
Error response
1
0
0
0
0
0
0
0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
e: expedited (shortened block service)
s: segmented (normal block service)
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