Server-Sdo1/Sdo2 - BONFIGLIOLI Active Cube User Manual

7.9.5 Server-SDO1/SDO2

The communication channel for the exchange of parameter data is the SDO channel.
Communication works according to the client/server model. The server is the sub-
scriber holding the data (here the frequency inverter), the client the subscriber re-
questing or wanting to alter the data (PLC, PC or frequency inverter as system bus
master).
For the frequency inverter, two server SDO channels have been implemented.
The first SDO channel SDO1 is used for the parameterization of the PLC/PC as a
master or frequency inverter with field bus connection as a system bus master.
The second SDO channel SDO2 is reserved for a visualization tool for parameteriza-
tion. An exchange of data can only be implemented by the master via a client SDO.
The SDO channels are stipulated for the server SDO's via identifiers according to the
Predefined Connection Set to CANopen. As CANopen only provides for and defines
one SDO channel in the Predefined Connection Set, the second SDO channel can be
deactivated.
In addition, the number of system bus subscribers and the adjustable node ID are
limited to 63.
Identifier assignment according to the Predefined Connection Set:
Identifier Rx-SDO = 1536 + Node-ID (Node ID = 1 ... 127, Identifier = 1537 ...
Identifier Tx-SDO = 1408 + Node ID
Identifier assignment for SDO1/SDO2 compatible with the Predefined
Connection Set:
Identifier Rx-SDO1 = 1536 + Node
ID
Identifier Tx-SDO1 = 1408 + Node
ID
Identifier Rx-SDO2 = 1600 + Node
ID
Identifier Tx-SDO2 = 1472 + Node
ID
This corresponds to the factory settings of the frequency inverters for the SDO's.
The node ID = 0 for SDO2 is the system bus master.
Atten-
tion:
If a frequency inverter has been defined as the system bus master, the above set-
tings for the SDO1 must be maintained in all the frequency inverters. In this way,
access to the parameterization of the frequency inverters via a field bus connection
on the master frequency inverter is possible.
The client SDO1 in the master frequency inverter addresses the server SDO1 of the
slaves via the above identifiers.
Atten-
tion:
03/12
The SDO2 must be deactivated in a CANopen system in order not to
generate any compatibility problems.
The identifiers for a visualization tool on the second SDO channel SDO2
cannot be changed.
EM-ABS-01 for ACU
1663)
(Node ID = 1 ... 127, Identifier = 1409 ...
1535)
(Node ID = 1 ... 63, Identifier = 1537 ...
1599)
(Node ID = 1 ... 63, Identifier = 1409 ...
1471)
(Node ID = 0 ... 63, Identifier = 1600 ...
1663)
(Node ID = 0 ... 63, Identifier = 1472 ...
1535)
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