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5.3.4. Float‐type variables
The iKAN series provide the function for float-type variables access. The iKAN-XXX-CPS module
uses object index 0x6412 and its sub-index to access the float -type variables.
Function
Float -type variable #1
Float -type variable #2
...
Float -type variable #64
The object index 0x6412 and sub-index 0x01 is for float-type variable. If the users would like
to write a float value 9.9 into float-type variables, the SDO commands are the table as below.
For example: Set Float #1 9.9
Float value: 9.9
Hex value: 0x411E6666 (IEEE 754)
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: if the users would like to access float-type variables, they must change the float value to IEEE
754 formats.
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
4
Value Range
0 – 0xFFFF FFFF 0x1
0 – 0xFFFF FFFF 0x2
0 – 0xFFFF FFFF ...
0 – 0xFFFF FFFF 0x40
8-byte Data (byte)
0
1
2
3
4
2B
12
64
01
66
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
60
12
64
01
--
SDO server
(iKAN)
Sub-Index
5
6
7
66
1E
41
5
6
7
--
--
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