Service Data Objects (Sdos) - ABB RECA-01 User Manual

54
Format of the PDO mapping (example for drive parameter 12.02)
Type MSB
UNIT 32 31
Description Index
e.g 0×400C (hex)
Drive parameter
group 12 (16 bits)
Note: The maximum number of I/O parameters that can be
simultaneously mapped for cyclic communication depends on the
drive type and application. For example, ACS800 supports 12
inputs and 12 outputs and ACS550 supports 15 outputs and 15
inputs.

Service Data Objects (SDOs)

Service Data Objects are mainly used for transferring non time-
critical data, e.g. parameter values. EtherCAT® specifies both
SDO services and SDO Information services: SDO services
provide read/write access to the entries in the device CoE Object
Dictionary. SDO Information services allow the Object Dictionary
itself to be read. The services supported by RECA-01 are
described in table
below.
Supported SDO and SDO Information services
Service
SDO Download Expedited
SDO Download Normal
Download SDO Segment
SDO Upload Expedited
SDO Upload Normal
Upload SDO Segment
Communication
16 15
Sub index
= e.g 2 = Drive
parameter group 12
(8 bits)
Supported SDO and SDO Information services
Writes up to four octets to the slave.
Writes up to a negotiated number of octets to the
slave.
Writes additional data if the object size is greater than
the negotiated number of octets.
Reads up to four octets from the slave.
Reads up to a negotiated number of octets from the
slave.
Reads additional data if the object size is greater than
the negotiated number of octets.
8 7
Object length in bits
e.g 0×10 (hex) =
16 bits
(8 bits)
Function
LSB
0