3
EtherCAT with FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English
63
3.8.2
SDO Read command (SDO upload)
Using the SDO read command, the controller can access parameter data (Value) of the CoE object dir
ectory CoE OD in the EMCA acyclically and can read them. Every request is confirmed by the EMCA with
a answer.
Controllers
EMCA
SDO upload/Upload SDO ... request
(SDO read command)
Request
Answer
SDO upload/Upload SDO ... response
CoE OD
Object
Value
Fig. 3.8
Access procedure: Reading out parameter data
The SDOservice supports the following SDO read commands:
SDO Service
Description
SDO upload expedited request
Read para
meter data
(upload)
1 … 4 bytes of us
age data (expedi
ted)
Request (request)
SDO upload expedited response
Answer (response)
SDO upload normal request
5 … 1,406 bytes of
usage data (nor
mal)
Request (request)
SDO upload normal response
Answer (response)
Upload SDO segmented request
1,407 … n bytes of
(seg
mented)
Request (request)
Upload SDO segmented response
Answer (response)
1)
The usage data are fragmented into packages, each of max. 7 bytes.
Tab. 3.43 SDO Services: Read out parameter data
Note
The answer (upload ... response) from the EMCA must be waited for in any event!
The next SDO request cannot be transmitted until the EMCA has answered the read
command.
Summary of Contents for EMCA-EC-67 CO Series
Page 33: ...2 CANopen Festo EMCA EC C HP EN 2017 11e English 33 ...
Page 73: ...3 EtherCAT with FHPP Festo EMCA EC C HP EN 2017 11e English 73 ...
Page 87: ...4 EtherNet IP with FHPP Festo EMCA EC C HP EN 2017 11e English 87 ...
Page 113: ...6 PROFINET IO with FHPP Festo EMCA EC C HP EN 2017 11e English 113 ...
Page 116: ...7 FHPP 116 Festo EMCA EC C HP EN 2017 11e English ...
Page 140: ...8 FHPP standard data I O data 140 Festo EMCA EC C HP EN 2017 11e English ...
Page 148: ...9 Measuring reference system 148 Festo EMCA EC C HP EN 2017 11e English ...
Page 210: ...10 Control via FHPP 210 Festo EMCA EC C HP EN 2017 11e English ...
Page 223: ...11 Monitoring of the drive behaviour Festo EMCA EC C HP EN 2017 11e English 223 ...
Page 367: ...D CANopen communication Festo EMCA EC C HP EN 2017 11e English 367 ...
Page 402: ...F Diagnostics and fault clearance 402 Festo EMCA EC C HP EN 2017 11e English ...
Page 413: ...EMCA EC 67 CO DIO EC EP PN Festo EMCA EC C HP EN 2017 11e English 413 ...
Page 414: ...EMCA EC 67 CO DIO EC EP PN 414 Festo EMCA EC C HP EN 2017 11e English ...
Page 415: ......