Festo Электромотор MTR-DCI - Manual (Page 328)

C. Reference – CANopen and CI objects
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Festo P.BE-MTR-DCI-CO-EN en 1209a
C.3.2 CI commands
Caution
Loss of data.
The Command Interpreter (CI) includes commands which
reorganise or delete parts of the memory. Existing data are
thereby destroyed:
• It is preferable to use the FCT or the control panel for
commissioning and parameterisation.
• Use the CI commands only in special applications which
require direct access to the controller.
• Use CI commands only if you already know their effects
and if they are permissible for your MTR-DCI.
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 out 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. As a reply, write commands will be reflected
exactly 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
reply from the MRE-DCI controller contains the downloaded
value. 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 is a Char character in hex
format.