Sdo Sequences For Reading And Writing - Festo CiA 402 Manual

3 CANopen access procedure
Data type Size and algebraic sign
UINT8 8 bit value without algebraic sign
INT8 8 bit value with algebraic sign
UINT16 16 bit value without algebraic sign
INT16 16 bit value with algebraic sign
UINT32 32 bit value without algebraic sign
INT32 32 bit value with algebraic sign
Tab. 3.2 Supported data types
3.2.1

SDO sequences for reading and writing

To read out or describe objects of these number types, the following listed sequences are used. The
commands for writing a value into the motor controller begin with a different identifier, depending on
the data type. The answer identifier, in contrast, is always the same. Read commands always start with
the same identifier, and the motor controller answers differently, depending on the data type returned.
All numbers are kept in hexadecimal notation.
Read commands
UINT8 / INT8
40h IX0 IX1 SU
Command
Answer: 4Fh IX0 IX1 SU D0
UINT16 / INT16
40h IX0 IX1 SU
Command
4Bh IX0 IX1 SU D0 D1
Answer:
UINT32 / INT32
Command 40h IX0 IX1 SU
43h IX0 IX1 SU D0 D1 D2 D3
Answer:
Identifier
Command identifier
Response identifier
Error detection
Tab. 3.3 SDO – command/response identifier
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Low byte of the main index (hex)
High byte of the main index (hex)
Sub-index (hex)
Identifier for 8 bit
Identifier for 16 bit
Identifier for 32 bit
8 bit
2F
h
4F
h
–
Area
0 ... 255
-128 ... 127
0 ... 65535
-32768 ... 32767
32
0 ... (2 -1)
31 32
-(2 ) ... (2 -1)
Write commands
Identifier for 8 bit
2Fh IX0 IX1 SU DO
60h IX0 IX1 SU
Identifier for 16 bit
2Bh IX0 IX1 SU DO D1
60h IX0 IX1 SU
Identifier for 32 bit
23h IX0 IX1 SU DO D1 D2 D3
60h IX0 IX1 SU
16 bit
2B
h
4B
h
–
32 bit
23
h
43
h
80
h
19