ABB FPBA-01 Instrukcja Użytkownika Pobierz pdf (Strona 95)

Communication

Table 21. PROFIdrive Response header

Table 22. Data types for Format field

Field(s) Description Range

Response

Reference

Mirrored from the request. 1 … 255

Response

Response from the slave. In case any

requested services fail, a “not

acknowledged” (NAK) response will be

indicated.

Request Param OK (01h)

Request Param NAK (81h)

Change Param OK (02h)

Change Param NAK (82h)

Axis To be set to 1. 0 … 255

No. of

Parameters

Number of parameters that are present

in the response.

1…37

Format* See Table 22. See Table 22

Number of

Values*

Number of values following. 0 … 234

Values* The values of the request. In case of

odd number of bytes, a zero byte is

appended to ensure the word structure

of the telegram.

–

*Only if Response ID is 01h (Request Parameter OK). The Format, Number of

Values and Values fields are repeated for other parameters.

Code Type

0x00 (Reserved)

0x01 … 0x36 Standard data types

0x37 … 0x3F (Reserved)

0x40 Zero

0x41 Byte

0x42 Word

0x43 Double word

0x44 Error

0x45 … 0xFF (Reserved)

1 2 ... 90 91 92 93 94 95 96 97 98 99 100 ... 125 126

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