Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 343

ECODRIVE03-FL*-04VRS
Status Word
C E R L
S 0 0 0 1 0 0 0 0 1 0 1 0 1 0 1 1
Control Word
C E R L
M 0 0 0 1 0 1 0 1 0 0 0 0 1 0 1 1
Status Word
C E R L
S 0 0 0 1 0 1 0 1 0 1 0 0 1 0 1 1
Control Word
C E R L
M 0 0 0 0 0 0 0 1 1 0 1 0 1 0 1 1
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
T Length Format
Fig. 11-22: "Read Response" From the Slave (First Fragment)
Now, the master must switch the toggle bit to show the slave that it is
ready to receive new data. The R/W-Bit, the L-Bit, the length and the data
are not of interest, and are therefore not considered by the slave.
However, the master should set the bits as shown below.
T Length Format
Fig. 11-23: The Master Sends a "Read Request" for the Second Fragment
The slave responds with the second fragment, which contains the
remaining 4 bytes. The L-Bit is set, because the system is processing the
last fragment. In addition, the length is set accordingly.
T Length Format
Fig. 11-24: "Read Response" From the Slave (Last Fragment)
Writing a Value
In this example, an NC instruction is written:
•
# N0000 NOP
The master clears the R-Bit to signal a write operation. In this example,
the length of the operating datum is 12 bytes. Because only 5 data words
are available in the Service Data Channel, the request cannot be sent all
at once, but must be fragmented. Therefore, the L-Bit is not set; the
toggle bit was switched opposite of the previous state.
T Length Format
Fig. 11-25: "Write Request" From the Master (First Fragment)
Command Communications
Service Data
Data Data Data Data Data Data Data Data Data Data
23 20 4E 30 30
# _ N 0 0
Service Data
Data Data Data Data Data Data Data Data Data Data
x x x x x
Service Data
Data Data Data Data Data Data Data Data Data Data
50 20 20 20 x
P _ _ _
Service Data
Data Data Data Data Data Data Data Data Data Data
23 20 4E 30 30
# _ N 0 0
11-13
30 30 20 4E 4F
0 0 _ N O
x x x x x
x x x x x
30 30 20 4E 4F
0 0 _ N O