Festo Электромотор MTR-DCI - Manual (Page 261)

B. Supplementary information
B-55
Festo P.BE-MTR-DCI-PB-EN en 1209a
B.2 The Command Interpreter (CI)
The commands implemented in the Command Interpreter of
the MTR-DCI are based in respect of their content on the ob-
jects standardised by CANopen (CiA Draft Standard 402):
Group 1xxx
Device description
Group 2xxx Festo commands
Group 6xxx Commands as per CANopen
The CiA Draft Standard 402 deals with the implementation of
CANopen in drive controllers.
Object directory The total of all parameterising and control possibilities is re-
ferred to as the object directory. A unique number (index,
subindex) is assigned to each object, and is used for acces-
sing that object.
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 re-
sponse which either contains the value read or, in the case of
a write command, serves as an acknowledgement. The trans-
mitted value (1, 2 or 4 data bytes) depends on the data type
of the object to be read or written.
Note
In order to restore the default settings you can, if required,
delete the EEPROM via the serial interface with the CI com-
mand 20F1h (Data memory control) (see chapter B.2.).
User-specific settings will then be lost.
• Use CI commands only if you already have experience
with Service Data Objects.
• If necessary, consult Festo.