Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 47)

Example:

The server replies to the command

CA[1]=4

, which is out of range: error code 21 (15h).

Byte 0 1 2 3 4 5 6 7

Hex value

43 41 01 40 15 0 0 0

9.1.2 Execute Command

These commands are used to instruct the drive to perform a sequence. The reply to these

commands is only an acknowledgement or an error code; there is no value for executing

command. Execute commands are a unique case of RPDO2, which can be used with a

DLC of either 4 or 8.

Example:

BG command, to start a motion.

DLC4:

Byte 0 1 2 3

Hex value

42 47 0 0

DL8:

Byte 0 1 2 7

Hex value

42 47 0 0

The reply is always eight bytes long and indicates either success or failure (error).

Success

Byte 0 1 2 3 4 5 6 7

Hex value

42 47 0 0 0 0 0 0

Failure: error code 58 (3Ah) for “Motor must be on”

Byte 0 1 2 3 4 5 6 7

Hex value

42 47 0 40 3A 0 0 0

CANopen DS 301 Implementation Guide Binary Interpreter Commands

MAN-CAN301IG (Ver. 2.1)

9-5

1 2 ... 42 43 44 45 46 47 48 49 50 51 52 ... 117 118

Pas de commentaire

Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 47