YASKAWA SI-EP3 Technical Manual page 38

8 Communication
Operation Read or Write operation.
Block length Length of the block.
Identifier
• time low
ARUUID
• time mid
• time high and version - clock - node
API Application Process Identifier
Slot Slot of the Module Access Point (MAP/PAP)
Sub-slot Sub-slot of the Module Access Point (MAP/PAP)
Padding
Index Index of the Record Data Object
Data length Length of the data block
Additional value 1
Field for transferring additional data
(response only)
Additional value 2
Field for transferring additional data
(response only)
Padding
Data block
Data block contains PROFIdrive specific request or response header.
Field(s)
Request Reference Unique identification set by the master. Changed for each new request.
Request ID Request type for the issued block.
DO-ID To be set to 0x01.
No. of Parameters Number of parameters that are present in the request.
Attribute Type of object being accessed.
Number of array elements accessed or length of string accessed. Set to 0 if non-array
No. of Elements
parameters are used.
Address of the PROFIdrive parameter that is being accessed. Also "1" is allowed by SI-
Parameter Index
EP3 to access drive parameters. Drive parameter group when accessing drive
(group)
parameters.
Subindex Addresses the first array element of the parameter.
(parameter) Drive parameter number when accessing drive parameters.
*1
Format Refer to Table 8.12
*1
Number of Values Number of values following.
The values of the request. In case of odd number of bytes, a zero byte is appended to
*1
Values
ensure the word structure of the telegram.
*1 Only when Request ID is 0x02 (Change Parameter). The Format, Number of Values, and Value Fields are repeated for other
parameters.
Field (s)
Response Reference Mirrored from the request.
Response from the slave. In the event that requested services fail, a "not acknowledged" (NAK) response
Response ID
will be indicated.
DO-ID To be set to 1.
No. of Parameters Number of parameters that are present in the response.
*1
Format Refer to Table 8.12
38
24 bytes for request, 20 bytes for response.
Used only with write request and read response.
Table 8.10 PROFIdrive Request Header
Description
for more information.
Table 8.11 PROFIdrive Response Header
Description
for more information.
Response (0x80)
Write (0x08) Read (0x09)
0 to 0xFFFF
-
Device Access Point (0x0000)
PROFIdrive (0x3A00)
0x01
0x01
2 bytes
0x0001 to 0x7FFF
0xB02E
0 to 0xFFFFFFFF
-
-
Range
1 - 255
Request Parameter (0x01)
Change Parameter (0x02)
0 - 255
1
Value (0x10)
0, 1 - 234
1 - 65535
0 - 65535
-
1
Varies based on value
YASKAWA SIEP C730600 89E PROFINET Technical Manual
UI8
UI16
UI32
UI16
UI16 Octet[2]
Octet[6]
UI32
UI16
UI16
UI16
UI32
UI16
UI16
Byte/Word
Byte
Byte
Byte
Byte
Byte
Byte
Word
Word
Byte
Byte
Refer to Table 8.12 for
more information.
Range
1 - 255
Request Param OK (0x01),
Request Param NAK (0x81),
Change Param OK (0x02),
Change Param NAK (0x82)
0 - 255
1 - 37
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