Crn50: Sdo Access Command And Status; Function; Sdo Data Transmission Diagram; Specify The Od Index Of Sdo Server In Crn51 - Delta DVP-PM Series Applications Manual

13
CANopen Communication Card
[Explanations]
Set up the node ID of the SDO server within the range 1~127.
:
SDO access command and status
CR#071
[Explanations]
Set up the SDO access commands and obtain the status. Please refer to the table below for the setting format.
Bit b15~b8
Subindex of the the

Function

target OD index.

SDO data transmission diagram:

1. Specify the OD index of SDO server (CR#070) in CR#072.
2. Set up the data to be transmitted in CR#073~CR#076.
3. Refer to the above table. Specify the subindex in b15~b8 of CR#071 and the SDO access commands as
well.
:
SDO OD(Object Dictionary) index
CR#072
[Explanations]
Specify the target OD index. Range: H'0000~H'FFFF.
:
SDO OD sending/receiving data 1~4
CR#073~CR#076
[Explanations]
The 4 registers store the data to be accessed (max 1024 bytes) through SDO protocol. When an error occurs
13-8
Data length (unit: byte)
Range: 1~8
Length of data should be specified in
write-in cases
1
OD index
Subindex
3
Subindex
Subindex
Subindex
Subindex
Subindex
b7~b4
Data
Data
Data
Data
Data
Data
b3 b2~b0
Commands:
0: completed
1: write in
(check up )
2: read out
Error flag
(check up)
3: write in
(No check up)
4: read out
(No check up)
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