LinMot CANopen SG5 Manual page 44

Index Sub-
Index
2000h + 85h
EntryNr
Read the block size of a CT Entry.
Command Table: Get Entry (Entry Nr.)
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
SDO CS
40h
Data
Byte 01 (LSB)
Return Value
COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:
SDO CS
Data 42h
Byte 01 (LSB)
xx xx: Block size
Index Sub-
Index
2000h + 86h
EntryNr
The CT entry data can be read in increments of 4 Bytes.
To read the entry data, this command has to be repeatedly called, while the response
to each call contains the next 4 bytes of data.
Command Table: Get Entry Data
COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:
SDO CS
40h
Data
Byte 01 (LSB)
Return Value
COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:
SDO CS
42h
Data
Byte 01 (LSB)
xx xx xx xx: Entry data
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Description
CT: Get Entry (Entry Nr.)
Index Sub-
Index
EntryNr 20h 85h
02 03 04
Index Sub-
Index
EntryNr 20h 85h
02 03 04
Description
CT: Get Entry Data
Index Sub-
Index
EntryNr 20h 86h
02 03 04
Index Sub-
Index
EntryNr 20h 86h
02 03 04
Access
Type
ro
- - -
05 06 07
Block Size
xxh xxh -
05 06 07
Access
Type
ro
- - -
05 06 07
Entry Data
xxh xxh xxh
05 06 07
Data Type
Unsigned32
-
08
(MSB)
-
08
(MSB)
Data Type
Unsigned32
-
08
(MSB)
xxh
08
(MSB)
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