USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
2-7
2 USB & RS232 COMMUNICATION
2.1 EPOS4 USB & RS232 Command Reference
2.1.1 Read Functions
2.1.1.1 ReadObject
Read an object value from the Object Dictionary at the given Index and Subindex.
2.1.1.2 InitiateSegmentedRead
Start reading an object value from the Object Dictionary at the given Index and Subindex.
Request Frame
OpCode BYTE 0x60
Len BYTE 2 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
Response Frame
OpCode BYTE 0x00
Len BYTE 4 (number of words)
Parameters
DWORD “Communication Error Code Definition” on page 6-47
BYTE [4] Data Bytes Read
Request Frame
OpCode BYTE 0x81
Len BYTE 2 (number of words)
Parameters
BYTE Node-ID
WORD Index of Object
BYTE Subindex of Object
Response Frame
OpCode BYTE 0x00
Len BYTE 5…132 (number of words)
Parameters
DWORD “Communication Error Code Definition” on page 6-47
DWORD Object Data Length (total number of bytes)
BYTE Length (max. 255 bytes)
BYTE [0…254] Data Bytes Read
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