LinMot CANopen SG5 Manual page 28

Index
2000h
With this command information on UPIDs can be read. After the initialization with the
command "Start getting UPID List", information on UIPIDs can be read with this
command. The command can be repeatedly issued. With each new command, the
information on the next existing UPID is sent.
When the end of the list is reached, the UPID FFFFh is sent.
Get Next UPID List item
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
SDO CS Index Sub-Index
40h
Data
Byte 01 (LSB) 02
yy yy: 2000h + UPID
Return Value
COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:
SDO CS Index Sub-
42h
Data
Byte 01 (LSB) 02
yy yy: Address Usage
xx xx: UPID which was found
Address Usage is interpreted as follows:
Index
2000h
This command is used in the same way as the "Start Getting UPID List" command
(2000h sub 20h). Only UPIDs with values that differ from their default values are
Index
2000h
This command is used the in same way as the "Get Next UPID List item" command
(2000h sub 21h). Only UPIDs with values that differ from their default values are
28 / 55
Sub-Index Description
21h Get Next UPID List item
yyh yyh 21h
03 04
Index
yyh yyh 21h
03 04
Sub-Index Description
22h Start Getting Modified UPID List
Sub-Index Description
23h Get Next Modified UPID List item ro
Access Type Data Type
ro
- -
05 06
Address Usage
yyh yyh
05 06
Access
Type
wo
returned.
Access
Type
returned.
Unsigned 32
- -
07 08 (MSB)
UPID found
xxh xxh
07 08 (MSB
Data
Type
Unsigned16
Data
Type
Unsigned32
NTI AG / LinMot