Mode of operation of the system
Deutschmann Automation GmbH & Co. KG
16
UNIGATE Fieldbus Gateway CANopen® - ProfibusDP V. 2.3
26.8.11
Data record structure (PB-output = data to the PB-Master):
0 1 2 3 4 5 6 7..n
+-----------+-------+--------+------------+-----------+----------+-----------+
| Obj-Index | Index | Status | Response-no| Node-no | Data-Len | Data ... |
+-----------+-------+--------+------------+-----------+----------+-----------+
|
+- 0 = Ok, 1 = Busy, Other values = Error
Example:
In this example the PB-Idx (In) and PB-Idx (Out) equal 8
Please note:
The counting starts at index "0" = 1. byte, i. e. in our example the value "8" corresponds to the 9.
byte!
We want to query the manufacturer hardware version (object - index 1009h) from a connected
CANopen® Slave. The CANopen® Slave has the Node ID = 5.
The Data-Len Request’s size has to be selected as large as the receive data length that is mai-
mally to be expected! Otherwise data that exceeds the set length is cut off.
If the size Data-Len Request is the same or larger than the receive data length, then the actual
data length comes back as Data-Len Response.
Data from the PB-Master (PLC)
Data to the PB-Master (PLC)
Request
Response
PB-Idx (In) Data (Hex) Description
PB-Idx (In) Data (Hex) Desription
0
...
1. byte
0
...
1. byte
1
...
2. byte
1
...
2. byte
2
...
3. byte
2
...
3. byte
3
...
4. byte
3
...
4. byte
4
...
5. byte
4
...
5. byte
5
...
6. byte
5
...
6. byte
6
...
7. byte
6
...
7. byte
7
...
8. byte
7
...
8. byte
8
10
Obj-Index
8
10
Obj-Index
9
09
Obj-Index
9
09
Obj-Index
10
00
Sub-Index
10
00
Sub-Index
11
01
Command (1 = read)
11
00
Status
(0 = ok)
12
01
Auftrag-Nr (1. Auftrag)
12
01
Auftrag-Nr (1. Auftrag)
13
05
Knoten-Nr (Node-ID = 5)
13
05
Knoten-Nr (Node-ID = 5)
14
02
Data Len (data length = 2)
14
02
Data Len (data length = 2)
15
...
Data...
15
47
Data...
(47h = hardw.vers. „G“)
16
...
17. byte
16
...
17. byte
4.3.8
Triggerbyte
With WINGATE
®
the first Profibus-byte can be configured as Triggerbyte.
In this case an evaluation of the Profibus data only occurs, if the first byte changes.
