Maxon EPOS4 User Manual

USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
2-9
2.1.2 Write Functions
2.1.2.1 WriteObject
Write an object value to the Object Dictionary at the given Index and Subindex.
2.1.2.2 InitiateSegmentedWrite
Start writing an object value to the Object Dictionary at the given Index and Subindex. Use the command
«SegmentWrite» to write the data.
Note that gateway communication is not supported.
Request Frame
OpCode BYTE 0x68
Len BYTE 4 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
BYTE [4] Data Bytes to write
Response Frame
OpCode BYTE 0x00
Len BYTE 2 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47
Request Frame
OpCode BYTE 0x69
Len BYTE 4 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
DWORD Object Data Length (total number of bytes)
Response Frame
OpCode BYTE 0x00
Len BYTE 2 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47

Maxon EPOS4 Specifications

General

Digital Outputs	4
Analog Inputs	2
Communication	USB
Interface	USB, CAN
Protocol	EtherCAT, CANopen