Festo Контроллер двигателя CMMD-AS - Manual (Page 37)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 37
Parameter commands
The exchange of parameters and data takes place over "communication objects" (CO).
They are used in a fixed syntax. Special return values are defined for errors in a write or
read access.
Note
To address the communication objects (CO) of axis 2, the character
# is set before the syntax command.
Answers of axis 2 begin with the character #.
The same applies for simulated CAN accesses.
Examples
Acknowledge error axis 1 OW:0030:0001 0000 Answer: OK!
Acknowledge error axis 2 #OW 0030:0001 0000 Answer: #OK!
Homing mode axis 1 Command: =606000:06
Homing mode axis 2 Command: #=606000:06
Command Syntax Response
Reading a CO OR:nnnn nnnn:HHHHHHHH or OR:EEEEEEEE
Writing a CO OW:nnnn:HHHHHHHH OK! or OW:EEEEEEEE
Reading a lower limit of a CO ON:nnnn nnnn:HHHHHHHH or ON:EEEEEEEE
Reading an upper limit of a CO OX:nnnn nnnn:HHHHHHHH or OX:EEEEEEEE
Reading an actual value of a CO OI:nnnn nnnn:HHHHHHHH or OI:EEEEEEEE
*)nnnn: Number of the communication object (CO), 16 bit (hexadecimal format)
HHHHHHHH: 32 bit data / values (hexadecimal format)
EEEEEEEE:
Return value in case of an access fault
Table 3.8 Parameter commands
The meaning of the return values is the following:
Return value Significance
0x0000 0002 Data are less than the lower limit, data were not written
0x0000 0003 Data are greater than the upper limit, data were not written
0x0000 0004
Data are less than the lower limit, the data were limited to the lower limit
and then accepted
0x0000 0005
Data are greater than the upper limit, the data were limited to the upper limit
and then accepted
0x0000 0008 Data are outside the valid value range and were not written
0x0000 0009 Data are currently outside the valid value range and were not written
Table 3.9 Return values