Communication Channels, Sdo1/Sdo2; Sdo Telegrams (Sdo1/Sdo2) - BONFIGLIOLI Vectron Manual

5.10
5.10.1
The service used for the exchange of parameter data is SDO Segment Protocol
Expedited. The data (type uint, int, long) are exchanged in a telegram.
Access to the parameters in the frequency inverters with a statement of parameter
number and data set is displayed via the addressing defined for object access pursu-
ant to the specifications of CANopen via Index/Sub-Index.
Index = parameter number / Sub index = data set.
The data to be transmitted have a length of 2 bytes for uint/int and 4 bytes for long.
As standardization and simplification, 4 bytes are always transmitted.
The data are on bytes 4...7 of the SDO telegram.
-
-
Writing parameters:
Client
uint/int
long
Server
Server
The error code is stated in byte 4 in a faulty reading process.
(see Table, failure codes).
Attention: Control byte 0x22 for the identification "SDO Download expedited" does
10/07
10/07

Communication channels, SDO1/SDO2

SDO telegrams (SDO1/SDO2)

uint/int variables are transmitted in bytes 4 and 5
with bytes 6 und 7 = 0.
long variables are transmitted in bytes 4...7.
Server SDO Download (expedited)
0 1
Ctrl. byte Parameter number
LSB
0x22
Client Download Response
0 1
Ctrl. byte Parameter number
LSB
0x60
Client Abort SDO Transfer
0 1
Ctrl. byte Parameter number
LSB
0x80
not consider the bits "s" (data size indicated) and "n" (number of bytes
not containing data). If set, they are ignored. The user is responsible for
the number of bytes matching the type of data.
EM-RES-03
2 3
Data set
MSB 0xnn
Writing process free of errors
2 3
Data set
MSB 0xnn
Writing process faulty
2 3
Data set
MSB 0xnn Code
EM-RES-03
4 5 6
Data
LSB
LSB MSB 0x00
LSB ... ...
4 5 6
Data
0
4 5 6
Data
0 0
7
MSB
0x00
MSB
7
7
0
29
29