Communication Channels, Sdo1/Sdo2; Sdo Telegrams (Sdo1/Sdo2) - BONFIGLIOLI actice Instruction Manual

4.10
4.10.1
The service used for the exchange of parameter data is SDO Segment Protocol
Expedited. The data (of type uint, int, long) are exchanged in a telegram.
Access to the parameters in the frequency inverters with a statement of parameter
number and data set is displayed via the addressing defined for object access pursuant
to the specifications of CANopen via Index/Sub-Index.
Index = parameter number / Sub index = data set.
The length of data to be transmitted is 2 bytes for uint/int and 4 bytes for long. As
standardization and simplification, always 4 bytes are transmitted.
The data are on bytes 4...7 of the SDO telegram.
-
-
Writing parameters:
Client
uint/int
long
Server
Server
The error code is stated in byte 4 in a faulty writing process.
(see Table, failure codes).
Attention! Control byte 0x22 for the identification "SDO Download expedited" does
26
26

Communication channels, SDO1/SDO2

SDO telegrams (SDO1/SDO2)

uint/int variables are transmitted in bytes 4 and 5
with bytes 6 und 7 = 0.
long variables are transmitted in bytes 4...7.
Server SDO Download (expedited)
0 1
Ctrl. byte Parameter number
0x22 LSB
Client Download Response
0 1
Ctrl. byte Parameter number
0x60 LSB
Client Abort SDO Transfer
0 1
Ctrl. byte Parameter number
0x80 LSB
not consider the bits "s" (data size indicated) and "n" (number of bytes
not containing data). If set, they are ignored. The user is responsible for
the number of bytes matching the type of data.
2 3
Data set
MSB 0xnn LSB
LSB
LSB
Writing process free of errors
2 3
Data set
MSB 0xnn
Writing process faulty
2 3
Data set
MSB 0xnn Code
4 5 6
Data
MSB 0x00
... ...
4 5 6
Data
0
4 5 6
Data
0 0
7
MSB
0x00
MSB
7
7
0
06/05
06/05