Service Data Objects - Lenze i55AE125B Manual

Configuring the network
CANopen

Service data objects

9.4.10 Service data objects
Service data objects (SDOs) make it possible to read and write all parameters of the inverter
via CANopen.
Details
Two independent SDO channels are provided at the same time. SDO channel 1 is always
•
active. SDO channel 2 can be activated via
An SDO is always transmitted with confirmation, i. e. the reception of an SDO frame is
•
acknowledged by the receiver.
The identifiers for SDO1 and SDO2 are generated from the basic identifier (in compliance
•
with the "Predefined Connection Set") and the node address set:
Object Direction
to the device
SDO1
l
SDO2
l
Structure of the SDO frame user data
The user data are shown in Motorola format:
1st byte 2nd byte
Command
See table below. LOW byte
Address of the parameter to be read or written.
The following commands can be transmitted or received for writing and reading the parame-
ters:
Command
Write request
Write response
Read request
Read response
Error response
More precisely, the command byte comprises the following information:
Command
Write request
Write response
Read request
Read response
Error response
More commands are defined in the DS301 V4.02 CANopen specification (e. g. segmented
transfer).
274
0x2301:005
Identifier
from the device
Basic identifier 0x600 + node address
Basic identifier 0x580 + node address
l
Basic identifier 0x640 + node address
Basic identifier 0x5C0 + node address
l
3rd byte 4th byte
Index Subindex
HIGH byte
1st byte Data length Info
hex dec
0x23 35 4 bytes
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
0x60 96 4 bytes
0x40 64 4 bytes
0x43 67 4 bytes
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
0x80 128 4 bytes
Command specifier (cs)
Bit 7 Bit 6 Bit 5
0 0 1
0 1 1
0 1 0
0 1 0
1 0 0
(P510.05).
5th byte 6th byte
Data 1 Data 2
LOW word
LOW byte HIGH byte
Writing of a parameter to the inverter.
Inverter acknowledges a write request.
Reading of a parameter from the inverter.
Inverter response to a read request with the current parameter value.
Inverter response to the incorrect execution of the read/write request.
1st byte
Toggle (t) Length*
Bit 4 Bit 3
0 0/1
0 0
0 0
0 0/1
0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
7th byte 8th byte
Data 3 Data 4
HIGH word
LOW byte HIGH byte
e s
Bit 2 Bit 1 Bit 0
0/1 1 1
0 0 0
0 0 0
0/1 1 1
0 0 0
e: expedited (shortened block service)
s: segmented (normal block service)