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5.3.3. Integer‐type variables
The iKAN series provide the function for integer-type variables access. The iKAN-XXX-CPS module
uses object index 0x6411 and its sub-index to access the integer-type variables. The total of integer-
type variables is 64 words.
Function
Integer-type variable #1
Integer-type variable #2
...
Integer-type variable #64
The object index 0x6411 and sub-index 0x01 is for accessing integer-type variable. If the users
would like to access integer-type variables, the SDO command is the table as below.
For example: Set Integer #1 100(0x64)
11-bit COB-ID (bit)
Func Code
10
9
8
1
1
0
SDO client
Func Code
10
9
8
1
0
1
SDO client
Note: the integer-type variable in iKAN series is distinguished to signed integer and unsigned
integer. Before using iKAN-XXX-CPS to access integer-type variables, please remind the range
of the integer value.
Node ID
7
6
5
4
3
2
0
0
0
0
0
0
11-bit COB-ID (bit)
Node ID
7
6
5
4
3
2
1
0
0
0
0
0
Size
1 word
1 word
1 word
1 word
Data
RTR
Length
1
0
0
1
0
8
Data
RTR
Length
1
0
0
1
0
6
Value Range Sub-Index
0 – 0xFFFF
0 – 0xFFFF
0 – 0xFFFF
0 – 0xFFFF
8-byte Data (byte)
0
1
2
3
4
2B
11
64
01
64
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
60
11
64
01
--
SDO server
(iKAN)
0x1
0x2
...
0x40
5
6
7
00
00
00
5
6
7
--
--
--
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