C3 ServoManager:

How to use TCP communication with I30 Interface

C3 ServoManager
How to use TCP communication
with I30 Ethernet Powerlink Interface

June 2012

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Table of Contents

Overview.......................................................................................................... 3
Hardware requirements .................................................................................. 3
Software requirements.................................................................................... 3
Communication settings ................................................................................. 4
Supported upload/download functions........................................................... 5
What is not possible ? ..................................................................................... 5
Known bugs ..................................................................................................... 5
Special hints …................................................................................................. 6

Advanced

Ethernet Port TCP/IP, UDP Specifications....................................................... 7

ASCII Communications …................................................................................ 8
Binary Communcations ................................................................................ 10
HI08 ………..…............................................................................................... 14

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Overview
The new C3 ServoManager release R9.0 allows the user to use TCP/IP communication with Compax3. The C3 with
EPL acts in the Basic Ethernet Mode as Internet server and is permanently waiting for incoming connections.

Hardware requirements
This communication is possible with Compax3 which have an I30 Ethernet Powerlink interface option.

Software requirements
Compax3 firmware version: 4.5.4
Firmware Package Release: 2009R08-4
I30 fieldbus firmware version: 2.02

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Communication settings
To use this communication select “Ethernet TCP settings (PC <-> C3)” from the options menu.

The following settings dialog appears:

Settings:
Select the valid IP – address from your device.
Important: Set the port address to 44822
Device address: 0
Compax3 gateway: unselected

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Supported upload/download functions

The following functions are possible with this interface:
• Device identification
• Upload configuration
• Upload IEC-61131 source
• Upload CAM source
• Download configuration
• Download IEC61131 – binary and project
• Download CAM curves and source
• Optimization window functions
• Using IEC-debugger

What is not possible?

• This interface does not allow upgrade firmware (.fwp) (device/interface)
• Using the C3M multi axe functions as multi axe status and multi axe scope

Known bugs
In some rare cases downloads (IEC61131 / CAM) will hang up the communication on Compax3 side, if this
occurs no tcp connection is possible and the device has to be reset by Power OFF/ON.

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Special hints
Closing the TCP connection by Compax3:
After 30 seconds of communication inactivity Compax3 closes the existing TCP socket, this is different to the
RS232/RS485 communication. This behavior has no effect to the user. If the user wants to start a download or
upload the C3 ServoManager automatically reconnects to the Compax3 device.

Starting the device identification

The green status label shows the open tcp connection (via socket) with the Compax3
After 30 seconds C3 ServoManager closes the connection and the status changes to Red (closed)

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1.1 TCP connection

This communication channel provides the access to all parameters of the C3 Object Dictionary (OD).

There are 3 different communication protocols available to read/write objects by Index and Subindex.

The ASCII and Binary protocol are the same as used for the RS232/485 communication;

the HI08 is a C3 <==> FieldBusInterface specific communication protocol.

Up to 3 different clients can be connected at the same time to the TCP server port 44821.

1.2 IP address
For an EPL device the default IP address is 192.168.100.NodeID!

The last part of the address is the NodeID set by the address switch S24.

This can be overwritten with the value of object 860.3 (IpAdr), if this value is not 0.

If object 860.3 has a value !=0, object 860.5 (Netmask_Ip) must be set too.

1.3 TCP C3Mgr connection

The C3 Servo Manager connects using TCP server port 44822.

1.4 UDP DDX connection

A special connection using the DDX protocol is available at UDP server port 44820.

1.5 UDP SDO connection

The UDP Port 3819 provides access to the EPL Object Dictionary that is different to the C3 OD.

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2 ASCII - protocol
The general layout of an ASCII command string for Compax3 is as follows:
[Adr] command CR
Adr the optional address is insignificant

Command valid Compax3 command

CR End sign (carriage return)

2.1 Command
A command consists of the representable ASCII characters (0x21 .. 0x7E). Lower cases are converted
automatically into capitals and blanks (0x20) are deleted, if they are not placed between two quotation
marks.

Separator between places before and after the decimal is the decimal point (0x2E).

A numeric value can be given in the Hex-format if it is preceded by the "$" sign. Values can be requested
in the Hex-format if the CR is preceded additionally by the "$" sign.

2.2 Answer string

All commands requesting a numeric value from Compax3 are acknowledged with the respective numeric
value in the ASCII format followed by a CR without preceding command repetition and following
statement of unit. The length of these answer strings differs depending on the value.

Commands requesting an Info-string (e.g. software version), are only acknowledged with the respective
ASCII character sequence followed by a CR, without preceding command repetition. The length of these
answer strings is here constant.

Commands transferring a value to Compax3 or triggering a function in Compax3 are acknowledged by:

>CR

if the value can be accepted resp. if the function can be executed at that point in time.

If this is not the case or if the command syntax was invalid, the command is acknowledged with

!xxxxCR

The 4 digit error number xxxx is given in the HEX format,

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2.3 Compax3 commands

2.3.1 Read object
O [$] Index , [$] Subindex [$]
The optional "$" after Subindex stands for "hex-output" which means that an object value can also be
requested in hex;

e.g. "O $0192,2$": (Object 402.2)

2.3.2 Write object

O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
The optional "$" preceding Index, Subindex and value stands for "Hex-input" which means that Index,
Subindex and the value to be transferred can also be entered in hex (e.g. O $0192,2=$C8).

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3 Binary protocol
The binary protocol with error detection is based on 5 different frames:

2 request telegrams the PLC sends to C3 and

3 response telegrams which C3 returns to the PLC.

3.1 Frame layout

Basic structure:
Start Code Adresse Number of Databytes - 1 Data Error detection

SC A L D0 D1 ... Dn Crc(Hi) Crc(Lo)

The start code defines the frame type and is composed as follows:
Bit 7 6 5 4 3 2 1 0

Frame Type Frame ID POP Gateway Address

RdObj read object 1 0 1 0 x 1 x x

WrObj write object 1 1 0 0 x 1 x x

Rsp Antwort 0 0 0 0 0 1 0 1

Ack Positive Befehls-Quittung 0 0 0 0 0 1 1 0

Nak Negative Befehls-Quittung 0 0 0 0 0 1 1 1

Bit 7,6,5 and 4 of the start character are the identifier for the frame type; bit 2 is always 1.

Bit 3, 1 and 0 have different meanings for the request and response frame.

Request_Frame

Address flag (Bit 0 = 1 ) indicates a following address byte

Gateway flag (Bit 1 = 1) indicates that this frame has to be routed to another destination

POP flag (Bit 3 = 1 ) activates the special Parker Operation Panel data format conversion
Response_Frame

Bit 0 und 1 are used to identify the response

Bit 3 always 0
The maximum number of data bytes in the request telegram is 256, in the response telegram 253.

The error detection with CRC16 is made via the CCITT table algorithm for all characters.

After receiving the start code, the timeout monitoring is activated in order to avoid that Compax3 waits
in vain for further codes (e.g. connection interrupted).

The timeout period between 2 codes received is fixed to 5ms (5 times the code time at 9600Baud)

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3.2 Write object - WrObj-Frame

SC Adr L D0 D1 D2 D3-Dx-1 Crc(Hi) Crc(Lo)

0xCX n-1 Index(Hi) Index(Lo) Subindex Wert 0x.. 0x..

Overwrite an object with the given value.

3.3 Positive acknowledgement - Ack-Frame

SC L D0 D1 Crc(Hi) Crc(Lo)

0x06 1 0 0 0x.. 0x..

C3 response, if a write access was successful or a function is executed completely.

3.4 Negative acknowledgement - Nak-Frame

SC L D0 D1 Crc(Hi) Crc(Lo)

0x07 1 F-Nr.(Hi) F-Nr.(Lo) 0x.. 0x..

C3 response, if access to the object was denied (e.g. function cannot be executed at that point in time or
object has no reading access). The error no. is coded according to the CiA Device Profile DSP 402.

3.5 Read object - RdObj-Frame

SC Adr L D0 D1 D2 D3 D4 D5 ... Dn Crc(Hi) Crc(Lo)

0xAX n-1 Index1(Hi) Index1(Lo) Subindex1 Index2(Hi) Index2(Lo) Subindex2 ... ... 0x.. 0x..

Reading one or several objects.

3.6 Response - Rsp-Frame

SZ L D0-Dx-1 Dx-Dy-1 Dy-D.. D..-D.. D..-Dn Crc(Hi) Crc(Lo)

0x05 n-1 Wert1 Wert 2 Wert 3 Wert .. Wert n 0x.. 0x..

C3 response, if the object can be read.

If the object has no reading access, C3 sends the Nak-Frame.

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3.7 Error detection

The checksum of a frame is calculated via the following function and the corresponding table:

The "CRC16" variable is set to before starting the calculation for a frame.

Function call: CRC16 = UpdateCRC16(CRC16, Character);

This function is called up for each Byte (Character) of the frame and

the result gives the last two bytes of the frame

C3 checks the CRC value on receipt and reports CRC error in the case of a deviation.

CRC lookup table:

const unsigned int _P CRC16_table[256] = {

0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,

0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,

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0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,

0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
};

CRC function:

unsigned int UpdateCRC16(unsigned int crc,unsigned char value) {

unsigned int crc16;

crc16 = (CRC16_table[(crc >> 8) & 0x00FF] ^ (crc << 8) ^ (unsigned int)(value));

return crc16;

At this time the C3 is not checking the received CRC value but it always transmits the correct CRC value.

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4 HIO8 protocol
This protocol gives the possibility to have access to the C3 objects in 2 different data formats; the C3
format as known from the Binary protocol and the FBI format as known from the fieldbuses (CANopen,
Profibus, EPL).

The 20 byte long request and response frame consists of a 4 byte segment header and a 16 byte data
section.

4.1 Request/Response overview

Request Code (RC) Request FBI → C3

0x01 Read object (FBI format)

0x02 Write object (FBI format)

0x03 Read object (C3 format)

0x04 Write object (C3 format)

0x05 Read object header via Index, Subindex

0x07 Read object header via internal Object-No.

0x09 Read object (FBI format), ignore GlobalConvertSwitch (object 202.1)

0x0A Write object (FBI format), ignore GlobalConvertSwitch (object 202.1)

0x81 Read last response (NOP command)

Bit 0 of Request Code: RD/WR flag 1 = read ; 0 = write

Response Code (RC) Response C3 → FBI

0x00 Request executed, requested data is ready in response data D1...D16

0x01 Request refused; error code is in response data D1,D2

0x07 Request refused; error code is in response data D1,D2

4.2 Request structure

Request header Data

H0 H1 H2 H3 D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15

RC Sub Idh Idl Data (Formats see page 16)

RC: Request Code; Sub: Object Subindex

Index: Object Index; Idh = high byte, Idl = low byte D0...D15: Data; D0 = high byte, D15 = low byte

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4.3 Response structure

Request header Data

H0 H1 H2 H3 D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15

RC Len - DT Data (Formats see page 16)

RC: Response Code

Len: Object Length (Number of values of the data type) DT: Data type

4.4 Request-/Response-Coding
Request/Response-Header Data

H1 H2 H3 H4 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16

RC = 0x02, 0x04, 0x0A

RC Sub Idh Idl Data (Formats see page 16)

Response:

0 Len - DT Data (Formats see page 16)

0 1 - 6 0 0 - - - - - - - - - - - - - -

1 1 - 6 EH EL - - - - - - - - - - - - - -

RC = 0x01, 0x03, 0x05, 0x07, 0x09

RC Sub Idh Idl - - - - - - - - - - - - - - - -

Response:

0 Len - DT Data (Formats see page 16)

1 1 - 6 EH EL - - - - - - - - - - - - - -

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4.4.1 Data transfer with C3 format

D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16

ASTR, OSTR

1. Chr. 2. Chr. 3. Chr. 4. Chr. ... ... ... ... ... ... ... ... ... ... 15. C 16. C

I24, F24, ADR

1. Value 2. Value 3. Value 4. Value 5. Value

High Low High Low High Low High Low High Low

I48, F48

1. Value 2. Value

High Low High Low

REAL

1. Value 2. Value

Integer part Fractional part Integer part Fractional part

High Low High Low High Low High Low

4.4.2 Data transfer with FBI format

D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16

VISIBLESTRING, OCTETSTRING

1. Chr. 2. Chr. 3. Chr. 4. Chr. ... ... ... ... ... ... ... ... ... ... 15. C 16. C

INTEGER16, UNSIGNED16, N2, V2, E2, X2, Y2, E2_6

1. Value 2. Value 3. Value 4. Value 5. Value 6. Value 7. Value 8. Value

High Low High Low High Low High Low High Low High Low High Low High Low

INTEGER32, UNSIGNED32, N4, C4, X4, C4_3, C4_6, Y4

1. Value 2. Value 3. Value 4. Value

High Low High Low High Low High Low

4.4.3 Data transfer of a object header

D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16

Index Sub- Data FBI Norm C3 Data pointer

High Low index Length format factor format High Low

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4.4.4 FBI format coding

Bit 7 6 5 4 3 2 1 0

Function 1 = PD-Object Data type (Coding see page 18)

PD-Object: Process Data Object (mapping possible)

4.4.5 C3 format coding

Bit 7 6 5 4 3 2 1 0

Fuction Init Write Execute Memory/Command Type Data type

0 = X_MEM 0 = ASTR

0 1 = Y_MEM 1 = OSTR

2 = I24
2 = P_MEM
3 = F24

x x 3 = L_MEM 4 = ADR

0 = CMD_0 5 = I48

1 1 = CMD_1 6 =F48

2 = CMD_2 7 = REAL

Init: Object value is stored in the Flash

Write: Object is writable

Execute: Object is a command (function)

Memory type: Memory space in the C3

Command type: C3 command (function) type

Data type: C3 data type

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4.4.6 Data types of the FBI format

Code Data type Value range Resolution Octets Type

1 Boolean TRUE(!=0) / FALSE (0) - 1 S

2 Integer8 -128 ≤ i ≤ 127 1 1 S

3 Integer16 -32768 ≤ i ≤ 32767 1 2 S

4 Integer32 -2147483648 ≤ i ≤ 2147483647 1 4 S
5 Unsigned8 0 ≤ i ≤ 255 1 1 S
6 Unsigned16 0 ≤ i ≤ 65535 1 2 S
7 Unsigned32 0 ≤ i ≤ 4294967295 1 4 S
8 Floating Point see ANSI/IEEE 754 4 S
9 Visible String see ISO 646 - Var. S
10 Octet String - - Var. S
33 N2 normalized value (16 Bit) -200 % ≤ i ≤ (200-2-14) % 2-14 % 2 P

34 N4 normalized value (32 Bit) -200 % ≤ i ≤ (200-2-30) % 2-30 % 4 P

35 V2 Bit array (16 Bit) - - 2 P

41 E2 fixed point value (16 Bit) -256 + 2-7 ≤ i ≤ 256 - 2-7 2-7 = 0,0078125 2 P
42 C4 fixed point value (32 Bit) 214748,3648 ≤ i ≤ 214748,3647 10-4 = 0,0001 4 P
43 X2 adjustable normalized value (16 Bit) depending on PZD normalization (Profibus) 2 P
44 X4 Norm. Wert variabel X4 (32 Bit) depending on PZD normalization (Profibus) 4 P
100 C4_3 fixed point value (32 Bit) 2147483,648 ≤ i ≤ 2147483,647 10-3 = 0,001 4 M
101 C4_6 fixed point value (32 Bit) 2147,483648 ≤ i ≤ 2147,483647 10-6 = 0,000001 4 M
102 Y2.x adjustable fixed point value (16Bit) depending on a scaling factor 2 M
103 Y4.x adjustable fixed point value (32 Bit) depending on a scaling factor 4 M
104 E2_6 fixed point value (16 Bit) -512 + 2-6 ≤ i ≤ 512 - 2-6 2-6 = 0,015625 2 M
S = standard P = profile specific M = manufacturer specific

Coding Integer8/16/32

Twos complement representation; Typ Bit

 8 7 6 5 4 3 2 1

Octet

The highest order bit (MSB) is the
bit after the sign bit (S) in the first
Integer8 1 S 26 25 24 23 22 21 20
octet.
S == 0: positive numbers & zero; Integer16 1 S 214 213 212 211 210 29 28
S == 1: negative numbers
2 27 26 25 24 23 22 21 20

1 S 230 229 228 227 226 225 224

Interger32 2 223 222 221 220 219 218 217 216

3 215 214 213 212 211 210 29 28

4 27 26 25 24 23 22 21 20

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Coding Unsigned8/16/32

Binary Typ Bit

 8 7 6 5 4 3 2 1

Octet


Unsigned8 1 27 26 25 24 23 22 21 20

Unsigned16 1 215 214 213 212 211 210 29 28

2 27 26 25 24 23 22 21 20

1 231 230 229 228 227 226 225 224

Unsigned32 2 223 222 221 220 219 218 217 216

3 215 214 213 212 211 210 29 28

4 27 26 25 24 23 22 21 20

Coding Floating Point

Bit 8 7 6 5 4 3 2 1

Exponent (E)
Octet 1
S 27 26 25 24 23 22 21

(E) Fraction (F)

2
20 2-1 2-2 2-3 2-4 2-5 2-6 2-7

Fraction (F)
3
2-8 2-9 2-10 2-11 2-12 2-13 2-14 2-15

Fraction (F)

4
2-16 2-17 2-18 2-19 2-20 2-21 2-22 2-33

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Coding normalized value N2, N4

14 30
Linear normalized value. 0%  0, 100%  2 (0x4000) for N2 respectively 2 (0x4000 0000) for N4

Twos complement representation; Typ Bit

 8 7 6 5 4 3 2 1

Octet

The highest order bit (MSB) is the
bit after the sign bit (S) in the first N2 1 S 20 2-1 2-2 2-3 2-4 2-5 2-6
octet.
S == 0: positive numbers & zero; 2 2-7 2-8 2-9 2-10 2-11 2-12 2-13 2-14

S == 1: negative numbers
1 S 20 2-1 2-2 2-3 2-4 2-5 2-6

N4 2 2-7 2-8 2-9 2-10 2-11 2-12 2-13 2-14

3 2-15 2-16 2-17 2-18 2-19 2-20 2-21 2-22

4 2-23 2-24 2-25 2-26 2-27 2-28 2-29 2-30

Coding fixed point value E2

14
Linear fixed point value with a 7 bit fractional part. 0  0, 128  2 (0x4000).

Twos complement representation; Typ Bit

 8 7 6 5 4 3 2 1
MSB is the bit after the sign bit (S)
S == 0: positive numbers & zero; Octet

S == 1: negative numbers
E2 1 S 27 26 25 24 23 22 21

2 20 2-1 2-2 2-3 2-4 2-5 2-6 2-7

Coding fixed point value E2_6

14
Linear fixed point value with a 7 bit fractional part. 0  0, 256  2 (0x4000).

Twos complement representation; Typ Bit

 8 7 6 5 4 3 2 1
MSB is the bit after the sign bit (S)
S == 0: positive numbers & zero; Octet

S == 1: negative numbers
E2_6 1 S 28 27 26 25 24 23 22

2 21 20 2-1 2-2 2-3 2-4 2-5 2-6

Coding normalized value X2, X4

X
Linear normalized value. 0%  0, 100%  2 . Coding as N2, N4, but the normalization (100%) is
adjustable and not fixed to Bit 14 respectively Bit 30. The normalization bit is in the parameter description
of the PZD normalization (Profibus specific).

Coding fixed point value C4

0
Linear fixed point value with 4 decimal places. 0  0, 0,0001  2 (0x0000 0001).
Coding as Integer32, value of the bits reduced by a factor of 10000.

Coding fixed point value C4_3

0
Linear fixed point value with 3 decimal places. 0  0, 0,001  2 (0x0000 0001).
Coding as Integer32, value of the bits reduced by a factor of 1000.

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Coding fixed point value C4_6

0
Linear fixed point value with 6 decimal places. 0  0, 0,000001  2 (0x0000 0001).
Coding as Integer32, value of the bits reduced by a factor of 1000000.

Coding fixed point value Y2.0,Y4.0

Linear fixed point value with n decimal places.
n
Coding as Integer16/Integer32; value of the bits reduced by a factor of 10 .
The number of decimal places is adjustable in the range of 0…9 by a scaling factor.

Coding fixed point value Y2.1,Y4.1

Linear fixed point value with a fractional part of n bit. Coding as Integer16/Integer32.
The number of bits for the fractional part is adjustable in the range of 0…24 by a scaling factor.

Scaling factors
Y2 scaling factors are the objects 200.x and Y4 scalling factors are the objects 201.x

Bit 0..4 defines the number of decimal places respectively number of bits of the fractional part

Bit 5 defines the Y2/4 type

0 = Y2/4.0 (with decimal places)

1 = Y2/4.1 (with binary fractional part)

Bit 6..15 reserved

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