51
Object directory
Index
Sub-index
Name (object)
Value
0x2300
0x05
Read start of the ad-
dress (start of the
address range on
the ID tag to be
read)
0x44
0x2301
0x05
Read length (length
of the memory range
on the ID tag to be
read; max. 8 bytes)
0x04
0x2302
0x05
Auto-write
0x01
Transfer data via RPDO:
PDO Transmission
PDO
Data
To the device
RPDO 6
0x12340000
The data is written to the ID tag when it has reached the detection range.
64-bit data (8 bytes) / 32-bit data (4 bytes) always have to be sent to an
RPDO. For smaller data lengths than 64 bits / 32 bits, the remaining bits
are ignored.
9.2.4 Error handling for PDO transfer
If a read or write access to an ID tag is not possible, the device creates an
emergency message on the CAN bus.
The error code can be read from the error register (OD index 0x1001, sub-index
0x00) and the predefined error field (OD index 0x1003, sub-index 0x01-0x02).
9.2.5 Read data from the ID tag via SDO transfer
To read data from an ID tag via SDO transfer it is necessary to define the data
address and length on the ID tag. The address must be indicated in object 0x2280
and the data length in object 0x2281.
Then read access can be started from the ID tag via a data transfer to object
0x2282.
