Lenze 9300 Servo PLC, Руководство пользователя

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System bus (CAN) with Servo PLC & Drive PLC
General information
2-10
l
PLC-Systembus EN 1.1
2.6.1.2 Command code
Identifier
Command
Index
Subindex Data 1 Data 2 Data 3 Data 4 Identifier
Command
code
Low-byte High-byte
Subindex Data 1 Data 2 Data 3 Data 4
The command code contains the command to be executed and information about the parameter
data length. It is structured as follows:
Bit 7 (MSB) Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Command Command specifier (cs) Length e s
Write Request 0 0 1 0
00 = 4-byte
1 1
Write Response 0 1 1 0
00 = 4-byte
01 = 3-byte
0 0
Read Request 0 1 0 0
01 3 byte
10 = 2-byte
11 = 1 byte
0 0
Read Response 0 1 0 0
11 = 1-byte
1 1
Error Response 1 0 0 0 0 0 0 0
Command code for parameters with 1, 2 or 4-byte data
4-byte data
(32 bits)
2-byte data
(16 bits)
1-byte data
(8 bits)
Command hex dec hex dec hex dec Info
Write Request 23 35 2B 43 2F 47 Send parameters to a participant
Write Response 60 96 60 64 60 96 Participant’s response to the Write Request (acknowledgement)
Read Request 40 64 40 64 40 64 Request to read a parameter from a participant
Read Response 43 67 4B 75 4F 79 Response to the read request with the actual value
Error Response 80 128 80 128 80 128 Participant reports a communication error
“Error Response” command
If an error occurs, the addressed participant generates an “ Error Response” .
•
In Data 4, this telegram always contains the value “ 6” , in Data 3 it contains an error code:
Command code Error Response Data 3 Data 4 Error message
3 Access denied
80
hex
5 Wrong subindex
hex
6
6
Wrong index
C0
hex
8
Command was not processed
(with 8200 FIF module)
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