Festo Контроллеры двигателя SFC-LAC - Manual (Page 342)

C. CI interface
C−6
Festo GDCP−SFC−LACI−DN−EN en 0812NH
C.1.4 Composition of the CI commands
The CI objects implemented in the SFC−LACI are based on
CANopen DS402:
Group 1xxx
Objects for device description
Group 2xxx Festo objects
Group 6xxx Objects as per CANopen
The CiA Draft Standard 402" deals with the implementation
of CANopen in drive controllers.
Access procedure
Every object has a unique number (index, subindex) which is
used for accessing the object.
The higher−order controller sends the controller either a write
command (WRITE) to modify an object, or a read command
(READ) to read out an object.
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 SFC−LACI. As a response, write commands are echoed
character by character from the SFC−LACI. A checksum <PS> is
inserted in front of the <CR> (Carriage Return").
READ (R) Read commands (R) transfer a value from the SFC−LACI.
The response contains the read value. A checksum <PS> is
inserted in front of the <CR>.
All commands are entered as a character sequence without
empty spaces. A hex character is a Char character in hex
format.