Communication Channels, Sdo1/Sdo2; Sdo Telegram (Sdo1/Sdo2) - BONFIGLIOLI Active Cube User Manual

7.10

Communication channels, SDO1/SDO2

7.10.1

SDO telegram (SDO1/SDO2)

The service used for the exchange of parameter data is SDO Segment Protocol
Expedited. The data (type uint, int, long) are exchanged in a telegram.
Access to the parameters in the frequency inverters with a statement of parameter
number and data set is displayed via the addressing defined for object access pur-
suant to the specifications of CANopen via Index/Sub-Index.
Index = parameter number / Sub index = data set.
The data to be transmitted have a length of 2 bytes for uint/int and 4 Bytes for long.
For simplification and standardization, 4 bytes are always transmitted.
The data are on bytes 4...7 of the SDO telegram.
- uint/int variables are transmitted in bytes 4 and 5
with bytes 6 und 7 = 0.
- long variables are transmitted in bytes 4...7.
Writing parameters:
Client
0
Control
byte
0x22
uint/int
long
Server
0
Control
byte
0x60
Server
0
Control
byte
0x80
The error code is stated in byte 4 in a faulty reading process.
(See table, failure codes).
Atten-
tion:
03/12
Server
SDO Download (expedited)
1 2
Parameter number
LSB MSB
Client Download Response
1 2
Parameter number
LSB MSB
Client Abort SDO Transfer
1 2
Parameter number
LSB MSB
Control byte 0x22 for the identification "SDO Download expedited" does
not consider the bits "s" (data size indicated) and "n" (number of bytes
not containing data). If set, they are ignored. The user is responsible for
the number of bytes matching the type of data.
EM-ABS-01 for ACU
3 4
Data Set
0xnn LSB
LSB MSB
LSB
writing process free of errors
3 4
Data Set
0xnn
writing process with error
3 4
Data Set
0xnn Code
5 6 7
Data
MSB
0x00 0x00
... ... MSB
5 6 7
Data
0
5 6 7
Data
0 0 0
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