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
0x00	Running	Cyclic running
0x01	Commit	Update the data on the slave with confirmation
0x02	Reset	Reset the Bus Interface
0x06	Store to Flash	Store current configuration on internal Flash
0x09	Reboot	Reboot the Bus Interface
0x05	Load from Flash	Load 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
0x00	Running	Cyclic running
0x03	Alarm Can	Can timeout communication
0x04	Alarm Modbus	Modbus timeout communication
0x08	Flash Fault	Flash fault when try to write data