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10
PROCESSING FUNCTIONAL COMMANDS
Name
Modbus
address
CANopen®
Index/sub-index
Profibus
cyclic IN/OUT
Acyclic
DPV1
slot/index
Type Access
Command register
0x0090
0x2003 / 0x00 (M)
Module 6
/
Uint
RW
Response register
0x0091
0x2004 / 0x00 (M)
Module 6
/
Uint
RO
10.1
Principles
eNod4
device is able to handle several functional commands thanks to a couple of registers (except in SCMBus
protocols):
the command register
: dedicated to accept the functional commands
the response register :
gives the state of the command currently being processed by
eNod4
(no command, in
progress, finished, failed)
•
00
H
free to accept a new command
•
01
H
command execution in progress
•
02
H
command execution complete
•
03
H
error during command execution
Note:
IMPORTANT
except in SCMBus/fast SCMBus protocols, to accept a new command, the command register
must
be set to 00
H
first. This causes the response register to be set back to
00
H
.