0X1200/N Sdo Server Parameter; 0X1400/N, 0X1401/N, 0X1402/N Rxpdo Communication Parameters - BONFIGLIOLI Vectron Active Cube User Manual

12.2.18 0x1200/n SDO Server Parameter

Index Sub-index
0x1200 0
1
2
Object 0x1200 defines the SDO server parameters. The values are read-only and pre
defined according to the device node address.
COB-ID client  server (Rx) = 1536 + node address
COB-ID server  client (Tx) = 1408 + node address
Bit 31
valid
Bit 31:
Bit 29:
Bit 0 ... 10:
Example:
Read Request
Reply
CB: Control byte
12.2.19 0x1400/n, 0x1401/n, 0x1402/n
RxPDO Communication Parameters
Index Sub-index
0x1400 0
0x1401
0x1402
1
2
3
4
5
RxPDO Communication parameters:
0x1400/n RxPDO1
0x1401/n RxPDO2
0x1402/n RxPDO3
These communication parameters define the COB-ID and transmission type used by
the RxPDOs. Only sub-index 1,2 and 5 are used for RxPDOs. The default setting for
the used COB-ID depends on the Node ID and can be changed. The default value for
transmission type is 255 (event driven) and can also be changed (see table).
66
Meaning
Highest sub-index supported
COB-ID client  server (Rx)
COB-ID server  client (Tx)
Object 0x1200/1, 2
Bit 30 Bit 29
0
frame
0 = SDO existent / valid
0 = 11 Bit ID
11 bit CAN-ID
COB ID CB
601 40
581 43
SI: Sub Index All values in hexadecimal without leading 0x
Meaning
Highest sub-index supported
COB ID
Transmission type
Inhibit time
-
Event time
COB-ID Default value: 0x200 (=512) +Node ID
COB-ID Default value: 0x300 (=768) +Node ID
COB-ID Default value: 0x400 (=1024) +Node ID
CM-CAN ACU
Data type
Unsigned8
Unsigned32
Unsigned32
Bit 11 ... 28
0
Index SI Data
00 12 02 00 00 00 00
00 12 02 81 05 00 00
Data type
Unsigned8
Unsigned32
Unsigned8
Unsigned16
-
Unsigned16
Access Map Def.-Val
ro No 2
ro No See text
ro No See text
Bit 0 ... 10
11 bit CAN-ID
Access Map Def.-Val
ro No 2
rw No See text
rw No See text
rw No See text
- - -
rw No See text
04/13