DP-V1 communication
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Table 19. PROFIdrive Response header
Table 20. Data types for Format field
Field(s) Description Range
Response
Reference
Mirrored from the request. 1 … 255
Response
ID
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 20. See Table 20
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)
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