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VACON® 1000 Fieldbus Options
Operating Guide
•
COBID=0x580+nodeID 8 bytes data 43 mm mm nn dd dd dd dd
-
43 = response of fast read command
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mm mm = index
-
nn = sub-index
-
dd dd dd dd = data read from output buffer
Example
nodeID = 1, read output buffer index through SDO read command = 0x2000, sub-index = data of 00
•
Request: COBID=0x601 8 bytes data 40 00 20 00 yy yy yy yy
•
Response: COBID=0x581 8 bytes data 43 00 20 00 01 02 03 04
01 02 03 04 is the data read from the output buffer.
SDO write command (Download SDO) format:
•
COBID=0x600+nodeID 8 bytes data 23 mm mm nn dd dd dd dd
-
23 = fast read command
-
mm mm = index
-
nn = sub-index
-
dd dd dd dd = data to be written to input buffer
SDO write command format:
•
COBID=0x580+nodeID 8 bytes data 60 mm mm nn 00 00 00 00
-
60 = fast write response
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mm mm = index
-
nn = sub-index
-
00 00 00 00 = default value
Example
nodeID = 1, write data (01 02 03 04) to input buffer index through SDO write command = 0x3000, sub-index = 00
•
Request: COBID=0x601 8 bytes data 23 00 30 00 01 02 03 04
•
Response: COBID=0x581 8 bytes data 60 00 30 00 00 00 00 00
01 02 03 04 is the data to be written to input buffer.
5.6.2.2 LSS Introduction
The LSS (Layer Setting Services) protocol is a CANopen proprietary subprotocol, which provides the function of querying and
changing the underlying parameters of the CANopen module. Only one node in a CANopen network can provide LSS master serv-
ice, and this node must also be an NMT master. All other nodes on the network provide LSS slave service. The LSS function occupies
two CAN-IDs, namely 0x7E4 (for slave) and 0x7E5 (for master), and the total length of the message is 8 bytes. The first byte is an
identifier, which is used to identify the instruction or status information involved.
CANopen LSS slave function is as below.
•
State switching: Supports global state switching and selected state switching.
•
Configuration service: Supports setting the node address and baud rate through the network. No need to download the set-
tings with configuration software.
•
Query service: Supports the query of vendor-id, product-code, revision-number, and serial-number identifiers.
•
Identity Service: Supports the identification of remote slave nodes.
Table 38: Function Codes
Code (HEX)
4
11
Danfoss A/S © 2023.09
Function
Enter into LSS standby state
Configure new Node ID
AQ454734633756en-000101 / 172K1112 | 61
CANopen
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