User Manual

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 wri
te
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 byt
es) 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. A
s 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.