BONFIGLIOLI Vectron Active Cube, User Manual

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12.2.18 0x1200/n SDO Server Parameter
Index Sub-index Meaning Data type Access Map Def.-Val
0x1200 0 Highest sub-index supported Unsigned8 ro No 2
1 COB-ID client

server (Rx) Unsigned32 ro No See text
2
COB-ID server

client (Tx)
Unsigned32 ro No See text
Object 0x1200 defines the SDO server parameters. The values are read-only and pre
defined according to the device node address.
COB-ID client

server (Rx) = 1536 + node address
COB-ID server

client (Tx) = 1408 + node address
Object 0x1200/1, 2
Bit 31 Bit 30 Bit 29 Bit 11 ... 28 Bit 0 … 10
valid 0 frame 0 11 bit CAN-ID
Bit 31: 0 = SDO existent / valid
Bit 29: 0 = 11 Bit ID
Bit 0 … 10: 11 bit CAN-ID
Example:
COB ID CB Index SI Data
Read Request 601 40 00 12 02 00 00 00 00
Reply 581 43 00 12 02 81 05 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.2.19 0x1400/n, 0x1401/n, 0x1402/n
RxPDO Communication Parameters
Index Sub-index Meaning Data type Access Map Def.-Val
0x1400
0x1401
0x1402
0 Highest sub-index supported Unsigned8 ro No 2
1 COB ID Unsigned32 rw No See text
2 Transmission type Unsigned8 rw No See text
3 Inhibit time Unsigned16 rw No See text
4 - - - - -
5 Event time Unsigned16 rw No See text
RxPDO Communication parameters:
0x1400/n RxPDO1 COB-ID Default value: 0x200 (=512) +Node ID
0x1401/n RxPDO2 COB-ID Default value: 0x300 (=768) +Node ID
0x1402/n RxPDO3 COB-ID Default value: 0x400 (=1024) +Node ID
These communication parameters define the COB-ID and transmission type used by
the RxPDOs. Only sub-index 1,2 and 5 are used for RxPDOs. The default setting for
the used COB-ID depends on the Node ID and can be changed. The default value for
transmission type is 255 (event driven) and can also be changed (see table).
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