YASKAWA SI-EP3 Technical Manual

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8 Communication38 YASKAWA SIEP C730600 89E PROFINET Technical ManualResponse (0x80)Operation Read or Write operation. Write (0x08) Read (0x09) UI8Block length Length of the block. 0 to 0xFFFF UI16ARUUIDIdentifier• time low• time mid• time high and version - clock - node-UI32UI16UI16 Octet[2]Octet[6]API Application Process IdentifierDevice Access Point (0x0000)UI32PROFIdrive (0x3A00)Slot Slot of the Module Access Point (MAP/PAP) 0x01 UI16Sub-slot Sub-slot of the Module Access Point (MAP/PAP) 0x01 UI16Padding 2 bytesIndex Index of the Record Data Object 0x0001 to 0x7FFF0xB02E UI16Data length Length of the data block 0 to 0xFFFFFFFF UI32Additional value 1(response only) Field for transferring additional data - UI16Additional value 2(response only) Field for transferring additional data - UI16Padding 24 bytes for request, 20 bytes for response.Data block Used only with write request and read response.Data block contains PROFIdrive specific request or response header.Table 8.10 PROFIdrive Request HeaderField(s) Description Range Byte/WordRequest Reference Unique identification set by the master. Changed for each new request. 1 - 255 ByteRequest ID Request type for the issued block. Request Parameter (0x01)Change Parameter (0x02) ByteDO-ID To be set to 0x01. 0 - 255 ByteNo. of Parameters Number of parameters that are present in the request. 1 ByteAttribute Type of object being accessed. Value (0x10) ByteNo. of Elements Number of array elements accessed or length of string accessed. Set to 0 if non-arrayparameters are used. 0, 1 - 234 ByteParameter Index(group)Address of the PROFIdrive parameter that is being accessed. Also “1” is allowed by SI-EP3 to access drive parameters. Drive parameter group when accessing driveparameters.1 - 65535 WordSubindex(parameter)Addresses the first array element of the parameter.Drive parameter number when accessing drive parameters. 0 - 65535 WordFormat *1 Refer to Table 8.12 for more information. - ByteNumber of Values *1 Number of values following. 1 ByteValues *1 The values of the request. In case of odd number of bytes, a zero byte is appended toensure the word structure of the telegram. Varies based on value Refer to Table 8.12 formore information.*1 Only when Request ID is 0x02 (Change Parameter). The Format, Number of Values, and Value Fields are repeated for otherparameters.Table 8.11 PROFIdrive Response HeaderField (s) Description RangeResponse Reference Mirrored from the request. 1 - 255Response ID Response from the slave. In the event that requested services fail, a “not acknowledged” (NAK) responsewill be indicated.Request Param OK (0x01),Request Param NAK (0x81),Change Param OK (0x02),Change Param NAK (0x82)DO-ID To be set to 1. 0 - 255No. of Parameters Number of parameters that are present in the response. 1 - 37Format *1 Refer to Table 8.12 for more information. -