ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 43)

Chapter 9: Binary Interpreter Commands
With CAN, the interpreter commands are sent in binary form and are used for setting
and retrieving all numerical data of the SimplIQ digital servo drives setup. The commands
used by the binary interpreter for CAN communication are very similar to commands of
the ASCII interpreter used for RS-232 communication.
The binary interpreter does not support string operations. Getting and setting strings
may be performed by accessing the appropriate messages via SDOs, using the OS
interpreter. Expressions (such as AC=2*DC+1000) are not supported by the binary
interpreter.
The following table summarizes the main differences between the binary interpreter used
for CAN communication and the ASCII interpreter used for RS-232.
Feature ASCII Interpreter Binary Interpreter
Command length Depends on data. Fixed: 8 bytes for Set commands;
4 bytes for Get commands.
Delimiter ; or <CR> for commands and
servo drive responses. None.
Servo drive
responses to Set
commands Always. Drive does not respond to Set
commands. An emergency object
is sent if command execution
fails.
Long response
strings Returned by certain
commands, such as LS and
BH. No support for returned long
strings, which are read via SDOs.
Table 9-1: Comparison of ASCII vs. Binary Interpreter Commands
TPDO2 is mapped by default to the transmit binary interpreter object (0x2012) and
RPDO2 is mapped by default to the receive binary interpreter object (0x2013). TPDO2 is
transmitted as an unsynchronized “Binary Interpreter complete” event.
The binary interpreter supports three types of commands:
ƒ
Set value
These commands are eight bytes in length. The transmitted message includes either
the reflection of the Set command or an error code, if a failure has occurred.
ƒ Get value
These commands can be four or eight bytes in length. An 8-byte response includes
the reflection of the command and the resulting numerical value, and an error if a
fault has occurred.
ƒ Execute command
This command can be four or eight bytes in length. An 8-byte response includes the
reflection of the command and the resulting numerical value, and an error if a fault
has occurred.
CANopen DS 301 Implementation Guide Binary Interpreter Commands
MAN-CAN301IG (Ver. 2.1)
9-1