Command 0x9001 - Write EnDat Word
Proceed as follows for the command 0x9001 "Write EnDat Word":
- 1. Write request
Enter the 5 byte Header and 1 to 32 Word data via the FB EnDat Command object, index 0xB0p8:01 "Request" as follows. (dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
0: LOBYTE Command
1: HIBYTE Command
2: MRS Code
3: Offset
4: Length in Words
5: LOBYTE Word 0
6: HIBYTE Word 0
...
5+(n*2) LOBYTE Word n
5+(n*2) HIBYTE Word n - 2. Read status 0xB0p8:02:
The data have been successfully written if this is 0x01. - 3. Read response:
(5 byte Header + 1 to 32 Word data)
0: Acknowledgement LOBYTE command
1: Acknowledgement HIBYTE command
2: Acknowledgement MRS code
3: Acknowledgement Offset
4: Acknowledgement Length in Words
CoE Entry / Example for command 0x9001
Example: Write encoder address
Write command: 0x9001
MRS code: "Operating parameters": 0xA7
Offset Word 04: 0x04
Length: 0x01
New encoder address: 0x1234
- 1. Write request 0xB008:01: "01 90 A7 04 01 34 12"
- 2. Read status 0xB008:02: If this is 0x01, the data was written successfully.
- 3. Read response
5 byte acknowledgement Header + 1 Word data
0x34 = LOBYTE of "0x1234"
0x12 = HIBYTE of "0x1234"
