Festo Кабели и принадлежности - Manual (Page 104)

A. Technical appendix
A−16
Festo P.BE−SPC200−COM−CANDN−EN en 0511a
Read flags and axis status flags
Command Message, WRC = 21
d
Byte Function Contents
Byte 0 Control byte LOAD = 1 (see section 5.2.3)
Byte 1 Subindex 1...4 = flags F0...F63
5...8 = axis status flags F64...127
Byte 2 Command Message type 21
d
Byte 3 Response Message type 0 (no update permitted)
Byte 4 Cmd. Data 1 Not relevant
Byte 5 Cmd. Data 2
Byte 6 Cmd. Data 3
Byte 7 Cmd. Data 4
Response Message
Byte Function Contents
Byte 0 Status byte LOAD COMPLETED = 1 (see section 5.2.3)
Byte 1 *)
Byte 2 Fault code See fault treatment in section 6.5
Byte 3 RMT Copy from byte 2 of the Command Message
Byte 4 Resp. Data 1 **) F0...7, F16...23, F32...39, F48...55
F64...71, F80...87, F96...103, F112...119
**)
Byte 5 Resp. Data 2 F8...15, F24...31, F40...47, F56...63
F72...79, F88...95, F104...111, F120...127
Byte 6 Resp. Data 3 *)
Byte 7 Resp. Data 4
*) Not relevant
**) In the event of a fault: extended fault code (see section 6.5)