Festo Кабели и принадлежности - Manual (Page 73)

5. Data structure
5−15
Festo P.BE−SPC200−COM−CANDN−EN en 0511a
Composition of the Command Message
Byte 0 1 2 3 4 5 6 7
Command
Message Control
byte Subindex CMT RMT = 0 Command Data
Byte 0: Control byte The control signals are explained in chapter 5 of the system
manual for the SPC200. With the parameter commands,
bit 7
(= LOAD) is also used for the LOAD DATA handshake.
Byte 1: Subindex Depending on the CMT, the subindex contains the number of
the addressed flag group or the number of another target
address in the SPC200.
Byte 2: CMT The Command Message type is composed as follows:
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
CMT Command Axis
Number C−AN Write/Read Command WRC
The following applies for the axis numbers (C−AN):
Axis numbers Bit 7 Bit 6 Bit 5 C−AN
X−axis 0 0 0 0 (=> 0h)
Y−axis 0 0 1 1 (=> 20h)
Z−axis 0 1 0 2 (=> 40h)
U−axis 0 1 1 3 (=> 60h)
The WRC defines the command in question, e.g. WRC = 17
h
would be the command Read the selected record number"
(see overview of commands at the end of this chapter and in
the appendix).
Byte 3 Must be 0 with parameter commands (no update).
Bytes 4...7 Contain the data to be written.