Lenze E84AYCET EtherCAT MCI module Manual de usuario descargar pdf (Pagina 78)

9 Parameter data transfer

9.2 Reading and writing parameters

Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17

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Example

In the case of a Download to the index 0x1600, the transmitted request structure contains the

following data:

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes 0x00

Channel WORD 6 bits

(0 ... 5)

0x00: Reserved

Priority 2 bits

(6, 7)

0x00: Lowest priority

Type 4 bits

(8 ... 11)

0x03: CANopen over EtherCAT (CoE)

Reserved 4 bits

(12 ... 15)

0x00

CANopen header Number WORD 9 Bits

(0 ... 8)

0x00

Reserved 3 bits

(9 ... 11)

0x00

Service 4 bits

(12 ... 15)

0x02: SDO request

SDO Size indicator BYTE 1 bit

(0)

0x01: Size of the data in the "Data set size"

Transfer type 1 bit

(1)

0x01: Expedited transfer

Data set size 2 bits

(2, 3)

0x00: 4 bytes of data

Complete access 1 bit

(4)

0x00: The entry addressed with an index and

subindex is written.

Command specifier 3 bits

(5 ... 7)

0x01: Download request

Index WORD 2 bytes 0x00: Index low byte of the object

0x16: Index high byte of the object

Subindex BYTE 1 byte 0x01: Subindex of the object

Data DWORD 4 bytes 0x5C930110

1 2 ... 73 74 75 76 77 78 79 80 81 82 83 ... 108 109

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