Festo Контроллеры двигателя SFC-LAC - Manual (Page 373)

C. Object directory DS402 and CI
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Festo GDCP−SFC−LACI−CO−EN en 0812NH
C.4.4 Composition of the CI commands
The CI objects implemented in the SFC−LACI are based on
CANopen DS 402:
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 reĆ
sponse which either contains the value read or, in the case of
a write command, serves as an acknowledgement. The transĆ
mitted 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 inĆ
serted 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 forĆ
mat.