Software Information - Bosch Rexroth ID 200/C‑PDP Manual

38/84 Communication with ID 200/C-PDP
Bosch Rexroth AG, MIT: ID 200, 3 842 540 399/2016-11
7.3.3

Software information

A command consists of the command code, a specific number of parameters, the
Toggleflag and the data belonging to the command. The command is entered in the
output data field of the master.
A reply consists of the echo of the command code, a parameter, the toggle flag, the
status, a reply counter and the read data. The reply is entered in the input data field
of the master.
Some commands do not use all parameter and data fields. The unused data fields
are ignored by the device. Input and output data fields have the following structure.
Output data field (command):
Command Table of contents
Byte 0 Command code
Byte 1 Parameter/Toggleflag
Byte 2 Parameter
Byte 3 Parameter
Byte 4 Write data
... ...
Byte N*) Write data
*) N is defined by the module selection
Input data field (reply):
Reply Table of contents
Byte 0 Command code (echo)
Byte 1 Parameter/Toggleflag
Byte 2 Status
Byte 3 Reply counter
Byte 4 Read data
... ...
Byte N*) Read data
*) N is defined by the module selection
To send a new command to the device, the PROFIBUS DP master must write the
command in the output data field. The Toggleflag must be inverted with every
command so that the device detects that it must process a new command.
When a new command is detected, "Status" is set to FFh.
Once commands have been processed by the identification system, the "Status" is
output in accordance with the error/status messages table (see section 7.3.9 "Error/
status messages" .
The first byte of the reply corresponds to the first byte of the command call
(command code).
The toggle bit of the reply is the same as the toggle bit of the command.