ADF Web HD67002 User Manual page 12

Industrial Electronic Devices
Example 1:
If you want to write data in the form of SDO in the CANopen from the ModBUS network on the device at the address:
Address 16;
Index 0x2003;
Subindex 0;
By dimensions 2 bytes;
By the following word ModBUS;
Addr Word 3000.
In the above scenario (Fig. 7):
The Modbus master can read or write (note RW=1):
to the address of the ModBUS side Gateway slave (note the one specified in the "Set communication");
to the word ModBUS 3000 (note: Addr word 3000);
the first byte of the SDO found in the low byte of the ModBUS word (note: Lo Word=1);
the second byte of the SDO found in high byte of the ModBUS word (note: Hi Word=2).
The SDO:
two byte dimension (note: nByte=2);
belonging to a CANopen device ID 16 (note: ID=16);
of the following coordinates: Index 2003 and Subindex 0.
ADFweb.com Srl – IT31010 – Mareno – Treviso
User Manual CANopen / Modbus Slave
Document code: MN67002_ENG
SDO Byte1
SDO Byte2
Hi word
High Byte
SDO Byte3 Word Modbus
SDO Byte4
Figure 7: Scheme of the word configuration
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SDO Byte1
Lo Word
SDO Byte2
Low Byte
Word Modbus
SDO Byte3
SDO Byte4
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