CL3-E CANopen/USB Technical Manual

Read complete object dictionary (FC101)

This function code is used to read the complete object dictionary of the controller.

To start or restart readout of the object dictionary, sub-function code 55h has to be sent. This code would always reset the readout to the object 0x0000. Every subsequent object dictionary data frame can be read out by sending sub-function code AAh. At the end when all the objects have been read, an exception response is generated, stating abort code "No data available".

The format of each object read is as follows:

Request:
Name Length Value / Remark
Slave Address 1 Byte  
Function Code 1 Byte 65h
Sub-function code 1 Byte 55h or AAh
Length of data 1 Byte 00h
CRC 2 Bytes  
Response:
Name Length Value / Remark
Slave Address 1 Byte  
Function Code 1 Byte 65h
Subfunction Code 1 Byte  
Length of data 1 Byte  
n times a "Object dictionary frame" 1 - 252 Bytes  
CRC 2 Bytes  
An object dictionary frame consists of the following bytes:
Name Length Value / Remark
Index Low 1 Byte  
Index High 1 Byte  
Sub-index 1 Byte  
No. of data bytes 1 Byte Number m of valid bytes in data field
Data byte m-1 Byte  

Example

The following numbers are written in hexadecimal. The address of the slave is "5".

Start read out of the object dictionary with the Request:

The response is:

Read the next part of the object dictionary with the request:

The response is:

Repeat reading the od with the previous request until the response is an error:

Error reaction

In case of an error, the following message will be sent:


Name Length Example value
Slave Address 1 Byte  
Function code 1 byte 2Bh +80h (171d = 43d + 128d) (indicates error)
Modbus exception code 1 byte FFh (extended exception)
Extended exception length 2 bytes 6
MEI type 1 byte 0Dh
Exception code 1 byte CEh
Error code 4 bytes CANopen error code
CRC 2 Bytes  

In case an not supported control option bit is set, the following error message will be sent:


Name Length Example value
Slave Address 1 Byte  
Function code 1 byte 2Bh +80h (171d = 43d + 128d) (indicates error)
Modbus exception code 1 byte FFh (extended exception)
Extended exception length 2 bytes 2 + length of Supported protocol control
MEI type 1 byte 0Dh
Exception code 1 byte AEh
Supported protocol control 1 or 2 bytes See following table
CRC 2 Bytes  


Bit Field name Description
0 Extend flag This bit is used when the object dictionary data set is larger than what fits in one Modbus command. The data set is then extended over multiple Modbus messages, each message being a fragment of the data set. "0" = No multiple message transaction, or end of multiple message transaction; "1" = Part of a multiple message transaction
1 Extend protocol control Length of protocol control, the value "0" indicates a length of 1 byte, the value "1" a length of 2 byte
2 Counter byte option This bit is set to 1 to indicate that the counter byte field is used in this message. If this bit is set to 0 the counter byte does not exist in this message.
3 and 4 Reserved 0
5 Network ID option Not supported, must be "0".
6 Encoded data option Not supported, must be "0".
7 Access flag This bit indicates the access method of the request command, "0" = read, "1" = write
8 to 15 Reserved 0

The following example shows an error in case of a wrong request. The requests reads the object 6061h:00 with a length of 2 byte, but the object is 1 byte long, actually:

Request
Response
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