Trio Motion Coordinator MC216 - Page 539

Motion Coordinator Technical Reference Manual
Communications Protocols 13-21
DeviceNet
Read word format
Request
Response
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
byte 0 0 Service code = 0x33, or 0x34
byte 1 Class ID = 0x8A
byte 2 Instance ID = 0x01 (this is the only instance supported)
byte 3 bits 15-8 of Source Address
byte 4 bits 7-0 of Source Address
byte 5 ignored
byte 6 Number of word values to be read
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
byte 0 1 Service code = 0x33, or 0x34
byte 1 bits 15-8 of Value 0
byte 2 bits 7-0 of Value 0
...
byte n bits 15-8 of Value m
byte n + 1 bits 7-0 of Value m