Sdo Obj Mapping - DEUTSCHMANN AUTOMATION UNIGATE CX-CANopen-(Mapping) - PROFIBUS DP Instruction Manual

Deutschmann Automation GmbH & Co. KG

7.1.2.10 SDO Obj Mapping

SDO transmission via a "window" in the fieldbus (FB). The following fixed data record structure is
used in the FB, which is mapped into the FB data from the FB index. A distinction is made bet-
ween:
FB-Idx (In) = data from the FB master (PLC) to the UNIGATE
FB-Idx (Out) = data on the FB master (PLC) from the UNIGATE
The user must ensure that enough space is reserved in the FB data for the longest data record.
SDO transmission is always initiated by the FB master and is ended when the job number in the
FB output data is identical to the job number in the FB input data.
Data record structure (FB input = data from FB master):
0 1 2
+-----------+-------+---------+------------+-----------+----------+-----------+
| Obj-Index | Index | Command | Auftrag-Nr | Knoten-Nr | Data-Len | Data ...
+-----------+-------+---------+------------+-----------+----------+-----------+
Data record structure (FB output = data on the FB master):
0 1 2
+-----------+-------+--------+------------+-----------+----------+-----------+
| Obj-Index | Index | Status | Auftrag-Nr | Knoten-Nr | Data-Len | Data ...
+-----------+-------+--------+------------+-----------+----------+-----------+
Beispiel:
In this example FB-Idx (In) und FB-Idx (Out) = 8
Please note:
The counting starts with index "0" = 1st byte, i. H. in our example the "8" corresponds to the 9th
byte!
We want to query the manufacturer hardware version of a connected CANopen
index 1009h). The CANopen
Data-Len Request should be chosen as large as the maximum expected receive data length!
Otherwise, the data remaining according to the set length will be capped.
If the Data-Len request is equal to or greater than the received data length, the actual data length
is returned as the Data-Len response.
Data from the FB master (PLC)
Request
FB-Idx (In) Data (Hex) Description
0 ... 1. Byte
28.9.20 Fieldbus-Gateway UNIGATE
3 4
|
+- 1 = Read, 2 = Write, Rest = Keine Aktion
3 4
|
+- 0 = Ok, 1 = In Arbeit, Sonst = Fehler
®
slave has the node ID = 5.
®
CX C4Map - PROFIBUS V. 1.0
Implemented protocols in UNIGATE® CX C4Map
5 6
5 6
FB Master (PLC) data
Response
FB-Idx (In) Data (Hex) Description
0 ... 1. Byte
7..n
|
7..n
|
®
slave (object
19