Parker Hauser COMPAX-M Series - Page 7

1.4 Selectable Data Channels
1.2.1 The bus wiring
7
If you assign OBJECT_REQ to PAD and OBJECT_RSP to PED
you will have access to all objects with a data length
≤
4 bytes.
In addition to this fixed PD assignment, a new function which
allows temporary assignment of the PD was created as a further
possibility:
P196 Bit 5="0" OBJECT_REQ and OBJECT_RSP
cannot
be
temporarily assigned to the PD (this allows a fixed
assignment of the PD; as outlined above).
P196 Bit 5="1" OBJECT_REQ and OBJECT_RSP can be
temporarily assigned to PD.
In addition to a permanent assignment of the
process data (PD3 ... PD8: set for example with
COMPAX parameters P135-P142) with cyclic
values (e.g. target position value and actual
position value), the OBJECT_REQ and
OBJECT_RSP objects can be temporarily
assigned to the PD (e.g. in order to change or read
parameters) to be then re-switched to the set cyclic
values (see page 64 onwards).
The answer/acknowledgement with OBJECT_RSP can also be
turned off by P196 Bit 6. Meaning:
P196 Bit 6="0" OBJECT_RSP automatically assigns the PED as
an answer/acknowledgement for OBJECT_REQ.
P196 Bit 1="1" OBJECT_RSP is
not
automatically assigned to the PED (as an answer/acknowledgement for OBJECT_REQ).
There is however the possibility of enabling or disabling OBJECT_RSP for the PED temporarily if required, via
the CONTROL object(command number 20 and 21).
Controlling the temporary PD assignment
2 control bits (in STEUERWORT and CPX_STW: "ObjectReqEnable" and "FreezePAD") and a state bit (in STATUSTWORT
and CPX_ZSW: "AckToggle") have been introduced to control the temporary PD assignment.
For more detailed explanations on the objects OBJECT_REQ and OBJECT_RSP, please see page 64.
Overview
P196 Bit 0...2 = "4": 8 byte process data channel
P196 Bit 7="0":
PD1/PD2: STEUERWORT/STATUSWORT
P196 Bit 7="1":
PD1/PD2: CPX_STW/CPX_ZSW
New objects:
OBJECT_REQ, OBJECT_RSP
P196 Bit 5="0":
temporary assignment of the PD with
OBJECT_REQ and OBJECT_RSP
turned off
P196 Bit 5 ="1":
temporary assignment of the PD with
OBJECT_REQ and OBJECT_RSP
turned on
P196 Bit 6 ="0":
OBJECT_RSP
automatically
assigns
the PED as
answer/acknowledgement for OBJECT_REQ
P196 Bit 6="1":
OBJECT_RSP does
not
automatically
assigns
the PED (as
answer/acknowledgement for
OBJECT_REQ).
OBJECT_RSP through
CONTROL="20"
enabled
to PED or
disabled
through
CONTROL="21"