Communication
C3F_T40
348 192-121102 N04 June 2008
Compax3>
Bits 0 and 1 are used to identify the response
Bit 3 is always 0
The maximum number of data bytes in the request telegram is 256, in the response
telegram 253.
The block securing (CRC16) is made via the CCITT table algorithm for all
characters.
After receiving the start code, the timeout monitoring is activated in order to avoid
that Compax3 waits in vain for further codes (e.g. connection interrupted) The
timeout period between 2 codes received is fixed to 5ms (5 times the code time at
9600Baud)
Write object – WrObj telegram
SZ Adr L D0 D1 D2 D3 ... Dn Crc(Hi) Crc(Lo)
0xCX
n Index(Hi) Index(Lo) Subindex Value 0x.. 0x..
Describing an object by a value.
Positive acknowledgement – Ack-telegram
SZ L D0 D1 Crc(Hi) Crc(Lo)
0x06 1 0 0 0x.. 0x..
Answer from Compax3 if a writing process was successful, i.e. the function could
be executed and is completed in itself.
Negative acknowledgement – Nak - telegram
SZ L D0 D1 Crc(Hi) Crc(Lo)
0x07 1 F-No.(Hi) F-No.(Lo) 0x.. 0x..
Answer from Compax3 if access to the object was denied (e.g. function cannot be
executed at that point in time or object has no reading access). The error no. is
coded according to the DriveCom profile resp. the CiA Device Profile DSP 402.
Read object – RdObj - telegram
SZ Adr L D0 D1 D2 D3 D4 D5 ... Dn Crc(Hi) Crc(Lo)
0xAX
n Index1(Hi) Index1(Lo) Subindex1 Index2(Hi) Index2(L
o)
Subindex2 ... ... 0x.. 0x..
Reading one or several objects
Answer – Rsp - telegram
SZ L D0 ... Dx-1 Dx ... Dy-1 Dy-D.. D ... D.. D ... Dn Crc(Hi) Crc(Lo)
0x05 n Value1 Value 2 Value 3 Value .. Value n 0x.. 0x..
Answer from Compax3 if the object can be read.
If the object has no reading access, Compax3 answers with the Nak – telegram.
Reading object "StatusPositionActual" (o680.5):
Request: A5 03 02 02 A8 05 E1 46
Response: 05 05 FF FF FF FF FE 2D 07 B4
Writing into an Array (o1901.1 = 2350)
Request: C5 02 08 07 6D 01 00 09 2E 00 00 00 95 D5
Response: 06 01 00 00 BA 87
Response telegram
Example:
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