Festo Электромотор MTR-DCI - Manual (Page 329)

C. Reference – CANopen and CI objects
C-53
Festo P.BE-MTR-DCI-CO-EN en 1209a
Acc
1)
Command
2)
Reply
W =IIIISS:<Value><CR> 2) =IIIISS:<Value><PS><CR>
R ?IIIISS<CR> 2) =IIIISS:<Value><PS><CR>
1) Access: W = write, R = read
2) Only with checksum checking enabled (object 20F3h,
see section C.3.4):
W: =IIIISS:<Value><PS><CR>
R: ?IIIISS<PS><CR>
Tab. C/8: Syntax of a CI command/reply
Syntax Explanation
“=”, “?” Initial character for write or read commands
IIII Index in 4 hexadecimal digits (4H)
SS Subindex in 2 hexadecimal digits (2H)
If the addressed object does not have an indexed para-
meter, subindex <00> will be specified.
“:” Separating character
<Value> Data in a format depending on data type
<PS> Checksum in 2 hexadecimal digits (2H)
<CR> End character<Carriage Return> ($0D)
Tab. C/9: Elements of syntax of a CI command/reply
<Value> The transferred value (1, 2 or 4 data bytes as hex digits)
depends on the data type of the object being read or written
(see overview in section C.1, Tab. C/1).
The following data types are supported:
Type Hex Format
UINT8 2H 8 bits without sign: 0 ... 255
INT8 8 bits with sign: -128 ... 127