meta data for this page

Bus Interface Command and Status

Command word

Command word can be write to the Bus Interface using PDO: GTW_CONTROL_WORD (0x1600) via EtherCAT or using MODBUS RTU bus (in this case the Bus Converter mode must be set to 0 ⇒ EtherCAT to CAN).
Using MODBUS RTU bus the register to write the Command word is 0xFF (255d). The Bus Converter Node ID is by default 0x80 (128d)

Register value State Description
0x00RunningCyclic running
0x01CommitUpdate the data on the slave with confirmation
0x02ResetReset the Bus Interface
0x06Store to FlashStore current configuration on internal Flash
0x09RebootReboot the Bus Interface
0x05Load from FlashLoad the configuration from internal Flash

Status word

Status word can be read to the Bus Interface using PDI: STATUS (0x1A00)
Status word can be read (when the Bus Converter mode is set to 0 ⇒ EtherCAT to CAN) from register 0xFE (254d) using MODBUS RTU.

Register value State Description
0x00RunningCyclic running
0x03Alarm CanCan timeout communication
0x04Alarm ModbusModbus timeout communication
0x08Flash FaultFlash fault when try to write data