Simulation Of Sdo Access - Festo CiA 402 Manual

3 CANopen access procedure
3.2.3

Simulation of SDO access

The firmware of the motor controller offers the possibility to simulate SDO access. In this way, after
being written via CAN bus, objects in the test phase can be read and checked through the CI terminal of
the parametrisation software (
section "Controlling the motor controller via CAN Interpreter").
The syntax of the commands is:
Read commands
UINT8/INT8
Command ?
Answer =
UINT16/INT16
Command ?
Answer =
UINT32/INT32
Command ?
Answer =
Note that the commands are entered as characters without any blanks.
Read error
Command ? XXXXSU
Answer ! FFFFFFFF
1) In case of error, the response is built up the same for all 3 write commands (8, 16, 32 bit).
The commands are entered as characters without any blanks.
Note
Never use these test commands in applications!
Access only serves test purposes and is not appropriate for real-time-capable commu-
nication.
22
Description Functions and commissioning, GDCP-CMMS/D-FW-...,
Main index (hex)
Sub-index (hex)
XXXX SU
XXXX SU: WW
8 bit data (hex)
XXXX SU
XXXX SU: WWWW
16 bit data (hex)
XXXX SU
XXXX SU: WWWWWWWW
32 bit data (hex)
32 bit error code
F3 F2 F1 F0 in accordance with
chap. 3.2.2
Write commands
= XXXX
= XXXX
= XXXX
= XXXX
= XXXX
= XXXX
Write error
= XXXXSU:WWWWWWWW
! FFFFFFFF
32 bit error code
F3 F2 F1 F0 in accordance with
chap. 3.2.2
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
SU: WW
SU: WW
SU: WWWW
SU: WWWW
SU:
SU: WWWWWWWW
1)