Sdo Function - BONFIGLIOLI Vectron Active Cube User Manual

11.3

SDO Function

The SDO (Service Data Objects) messages are used for reading and writing the ob-
jects located in the object dictionary. Objects with up to four bytes of data are trans-
ferred with an expedited SDO transfer that uses one request and one response mes-
sage. Access to objects with more than four bytes of data is accomplished by a seg-
mented domain transfer.
In chapter 12.3 "Manufacturer objects (0x2nnn)" the necessary messages for read-
ing/writing objects with expedited transfer are described in detail. Access to commu-
nication, manufacturer and device profile specific objects with up to four bytes of data
is accomplished in the same way. The only difference is in the index and sub-index
number.
The inverter supports one server SDO. This server SDO is accessed by the client SDO
on the PLC side. An SDO message always has a COB-ID followed by 8 data bytes.
SDO-message:
COB-ID 0
COB-ID command
specifier
(cs)
nn
Default Identifiers (COB-ID):
TxSDO
RxSDO
Depending on the transfer direction and the amount of data bytes, different command
specifiers are used.
The error codes of failed SDO accesses are listed in chapter 11.3.3.
04/13
1 2
index sub-
index
LSB MSB
0x600 (=1536) + Node-ID
0x580 (=1408) + Node-ID
CM-CAN ACU
3 4 5
data data
6 7
data data
31