BONFIGLIOLI Vectron Active Cube User Manual page 72

Example Event time & Inhibt time:
The actual speed value is transferred via TxPDO. The value is updated after the inhibit
time has elapsed. At time A, the value remains constant. During this time, the value is
updated after the Event time has elapsed. At time B, the value changes and is trans-
mitted via TxPDO. The value changes again frequently and is only updated after the
inhibit time has elapsed
Sub index 4:
Sub-index 4 is included for compatibility reasons. An SDO read/write access to sub
index 4 results in an SDO abort.
Example*:
Read Request
Reply
Read Request
Reply
Write Access
Reply *
Write Access
Reply *
Write Access
Reply *
CB: Control byte
Note, that Object 1800/1 highest bit has to be deactivated first for the correct Write
*
access for Object 1800/2.
72
COB ID CB Index
601 40 00 18
581 4F 00 18
601 40 00 18
581 4F 00 18
601 23 00 18
581 60 00 18
601 2F 00 18
581 60 00 18
601 23 00 18
581 60 00 18
SI: Sub Index All values in hexadecimal without leading 0x
CM-CAN ACU
SI Data
02 00
02 FF
01 00
01 81 01 00 00
01 81 01 00 80
01 00 00 00 00
02 05
02 00
01 81 01 00 00
01 00 00 00 00
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