BONFIGLIOLI Vectron Active Cube, User Manual

Page: 79 / 240

Example 4
Reading parameter
Fixed Frequency 1
480 (type: long) in data set 3 with the current
parameter value -10.00 Hz.
Index = 480 + 0x2000 = 0x21E0, value = -1000 = 0xFFFFFC18
Client

Server SDO Upload (expedited)
0 1 2 3 4 5 6 7
COB ID Control byte Index Subindex Data
0x601 0x40 0xE0 0x21 0x03 -- -- -- --
Server

Client Upload Response
0 1 2 3 4 5 6 7
COB ID Control byte Index Subindex Data
0x581 0x43 0xE0 0x21 0x03 0x18 0xFC 0xFF 0xFF
If an error occurs during the reading process, the corresponding error code is given in
Bytes 4 … 7. Check chapter 11.3.3 for the error code list for SDO abort.
12.3.1.4 Example to Write parameters via Segmented Transfer
Write Parameter
User Name
029 (Type String), in data set 0 with the parameter val-
ue “Bonfiglioli Vectron CANopen” (= 27 characters = 0x1B characters).
Index = 29 + 0x2000 = 0x201D
ASCII B o n f i g l
Hexadec-
imal
0x42 0x6F 0x6E 0x66 0x69 0x67 0x6C
ASCII i o l i (blank) V e
Hexadec-
imal
0x69 0x6F 0x6C 0x69 0x20 0x56 0x65
ASCII c t r o n (blank) C
Hexadec-
imal
0x63 0x74 0x72 0x6F 0x6E 0x20 0x43
ASCII A N o p e n
Hexadec-
imal
0x41 0x4E 0x6F 0x70 0x65 0x6E
Initiate Se-
quence
Client

Server SDO Initiate Download Request (segmented)
0 1 2 3 4 5 6 7
COB ID Control byte Index Sub-index Daten
0x601 0x21 0x1D 0x20 0x00 1B 00 00 00
Server

Client Initiate Download Response (response: 9 bytes to be send)
0 1 2 3 4 5 6 7
COB ID Control byte Index Sub-index Daten
0x581 0x60 0x1D 0x20 0x00 0x00 0x00 0x00 0x00
04/13
CM-CAN ACU
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