Siemens SINAMICS G120 Operating Instructions Manual page 140

Configuring the fieldbus
7.4 Communication via CANopen
Structure of the SDO protocols
The SDO services use the appropriate protocol depending on the task. The basic structure is
shown below:
Byte 0
● The protocol type is contained in byte 0:
● Bytes 1 and 2 contain the index (SINAMICS parameter number)
● Byte 3 contains the subindex (SINAMICS parameter index)
● Bytes 4 ... 7 contain the data corresponding to the second position of byte 0. In the case
138
Header information
Byte 1 und 2
CS index
– 2F hex: write 4 bytes
– 2B hex: write 3 bytes
– 27 hex: write 2 bytes
– 23 hex: write 1 byte
– 40 hex: read request
– 4F hex: read 4 bytes
– 4B hex: read 3 bytes
– 47 hex: read 2 bytes
– 43 hex: read 1 byte
– 60 hex: write acknowledgment
– 80 hex: error
of an error, these bytes contain the abort code
n user data
Byte 3 Byte 4 ... 7
sub index
Operating Instructions, 01/2011, FW 4.4, A5E02999804A AB
length
SINAMICS G120C Inverter