Sdo Examples (Expedited Transfer Only) - BONFIGLIOLI Vectron Active Cube User Manual

12.3.1.1 SDO examples (expedited transfer only)

Writing parameters:
Client  Server
0
COB ID Control byte
0x2B
0x23
Server  Client
0
COB ID Control byte
0x60
Server  Client
0
COB ID Control byte
0x80
If an error occurs during the writing process, the corresponding error code is given in
Bytes 4 ... 7.
Reading parameters:
Client  Server
0
COB ID Control byte
0x40
Server  Client
0
COB ID Control byte
0x4B
0x43
Server  Client
0
COB ID Control byte
0x80
If an error occurs during the reading process, the corresponding error code is given in
Bytes 4 ... 7. Check chapter11.3.3 for the error code list for SDO abort.
76
SDO Download (expedited)
1 2
Index Subindex
LSB MSB 0xnn
uint/int
Download Response  writing process free of errors
1 2
Index Subindex
LSB MSB 0xnn
Abort SDO Transfer  writing process with error
1 2
Index Subindex
LSB MSB 0xnn
SDO Upload (expedited)
1 2
Index Subindex
LSB MSB 0xnn
Upload Response  reading process without errors
1 2
Index Subindex
LSB MSB 0xnn
uint/int
Abort SDO Transfer  reading process faulty
1 2
Index Subindex
LSB MSB 0xnn
CM-CAN ACU
3 4 5
Data
LSB MSB
long
LSB ...
3 4 5
Data
3 4 5
Data
Error code
3 4 5
Data
3 4 5
Data
LSB
LSB MSB
long LSB ...
3 4 5
Data
Error code
6 7
-- --
... MSB
6 7
-
6 7
6 7
-
6 7
MSB
-- --
... MSB
6 7
04/13