Balluff BDG F-NH Series, Configuration Manual

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8.3 Configura tion via SDO
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If not specified otherwise, all the following configurations have to be saved into the
EEPROM (8.12.1 "Saving parameters into EEPROM").
8.3.1 SDO access on objects
You can use SDO communication to read or write on objects:
Figure 8.1: read object
The structure of a SDO message is:
Client (master) to server (encoder):
600h+ID 8 40h 04h 60h 00h 00h 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.12: Example SDO master to encoder
The payload of the SDO is 4 bytes of data (d1d2d3d4):
580h+ID 8 43h 04h 60h 00h d4 d3 d2 d1
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.13: Example SDO answer
Fehler! Verweisquelle konnte nicht gefunden werden. shows the overview of the command values:
Command Type Description
22h Write command Parameter to encoder
23h Write command 4 Byte Parameter to encoder
27h Write command 3 Byte Parameter to encoder
2Bh Write command 2 Byte Parameter to encoder
2Fh Write command 1 Byte Parameter to encoder
60h Acknowledge Parameter received
40h Read command Parameter from Encoder
42h Response Parameter to SDO master
43h Response 4 Byte Parameter to SDO master
47h Response 3 Byte Parameter to SDO master
4Bh Response 2 Byte Parameter to SDO master
4Fh Response 1 Byte Parameter to SDO master
80h Abort code Failure / Failure code
41h Response SDO segmented transfer started (see CiA 301)
Table 8.14: Command definitions