Siemens MICROMASTER 420 Operating Instructions Manual page 38

Data transfer using CANopen
In order to be able to write parameters, a CANopen master must send a download
protocol according to the following table
Table 3-3 Significance of the bytes in the SDO download protocol (CANopen master to
MICROMASTER)
Byte 0:
Bits 7-5 Bit 4 = 0 Bits 3,2
CCS = 1 n = 0 (Dword)
n = 2 (Word)
If the MICROMASTER 420/430/440 cannot correctly process the task, it
acknowledges the download SDO protocol with a response telegram according to
the following table:
Table 3-4 Significance of the bytes in the SDO download protocol (MICROMASTER to CANopen
master)
Byte 0:
Bits 7-5 Bit 4 - 0 = 0
SCS = 3
The SDO download is either realized directly in the RAM or directly in the
EEPROM. This can be controlled using parameter P0014 (object 200EH). If
parameter P0014 (object 200EH) is set so that the download is saved in the RAM,
data can be saved to object 1010H to save in the EEPROM using the "save"
instruction.
Upload SDO protocol
The upload SDO protocol is used to read the values of the object directory of the
drive. MICROMASTER 420/430/440 only supports the "expedited SDO upload" for
up to 4 bytes of data (e =1,s = 1).
CLIENT
Request
Confirm
Fig. 3-8
38
e = 1 s = 1
0 1
7 ... 5 4 ... 0
Index
ccs = 2 x
0
7 ... 5 4 3 ... 2
scs = 2 x n
Upload SDO protocol
Bytes 1,2 Byte 3
Object Object
Dictionary Dictionary
Index Subindex
Bytes 1,2 Byte 3
Object Object
Dictionary Dictionary
Index Subindex
2 3 4
Sub-
reserved
index
1 2 3 4
1 0
Sub-
Index Data
e s index
CANopen Option Module
Issue 01/05
Bytes 4,5 Bytes 6,7
Word data
Dword data Dword data
Bytes 4,5 Bytes 6,7
Reserved = 0
SERVER
7
Indication
7
Response
Operating Instructions
6SE6400-5BC00-0BP0