Festo Электромотор MTR-DCI - Manual (Page 280)

C. The Command Interpreter (CI)
C-6
Festo P.BE-MTR-DCI-DN-EN en 1209a
Access procedure
The higher-order controller sends the controller either a write
command (WRITE) to modify a parameter in the object direc-
tory, or a read command (READ) to read a parameter.
For each command the higher-order controller receives a
response which either contains the value read or, in the case
of a write command, serves as an acknowledgement. The
transmitted value (1, 2 or 4 data bytes) depends on the data
type of the object to be read or written.
WRITE (W) Write commands (W) transfer a value in the specified format
to the MTR-DCI. Write commands are always echoed back,
character by character, from the controller of the MTR-DCI.
A checksum <PS> will be inserted in front of the <CR>.
READ (R) Read commands (R) transfer a value from the MTR-DCI. The
response from the MTR-DCI controller contains the value
read. A checksum <PS> will be inserted in front of the <CR>.
All commands are entered as a character sequence without
any empty spaces. A hex character corresponds to a Char
character in hex format.
Acc
1)
Command Response
W
W
2)
=IIIISS:<value><CR>
=IIIISS:<value>
<PS><CR>
=IIIISS:<value><PS><CR>
R
R
2)
?IIIISS<CR>
?IIIISS
<PS><CR>
=IIIISS:<value><PS><CR>
1) Access: W = write, R = read
2) when MTR-DCI checksum comparison is activated, see
section C.1.3
Tab. C/2: Syntax of a CI command/response