IMO HD1-E-COP, Instruction Manual

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HD1-E CANopen instruction manual
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Example
For example, when slave station address is 3, conduct read and write operation on the object of 0x1801 index and 03 sub-index. (Refer
to Appendix1 for the object of 0x1801 index and 03 sub-index. The object indicates the prohibition time of PDO2 Tx.)
Write example: To modify the prohibition time of PDO2 Tx into 1000ms, write command of the master station goes as follows.
COB-ID
Request code Object index
Sub-
index
Request data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x603 0x2B 0x01 0x18 0x03 0xe8 0x03 0x00 0x00
After receiving the command from the master station, the slave station will respond the following command if the modification succeeds.
COB-ID
Response code Object index
Sub-
index
Response data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x583 0x60 0x01 0x18 0x03 0x00 0x00 0x00 0x00
Read example: To read the prohibition time of PDO2 Tx, read command of the master station goes as follows.
COB-ID
Request code Object index
Sub-
index
Request data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x603 0x40 0x01 0x18 0x03 0x00 0x00 0x00 0x00
After receiving the command from the master station, the slave station will respond the following command if the prohibition time of
PDO2 Tx is 1000ms.
COB-ID
Response code Object index
Sub-
index
Response data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x583 0x43 0x01 0x18 0x03 0xe8 0x03 0x00 0x00
Example of read and write error: The read command of the master station for the object dictionary where read does not exist (0x6000
index, 0x00 sub-index) goes as follows.
COB-ID
Request code Object index
Sub-
index
Request data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x603 0x40 0x00 0x60 0x00 0x00 0x00 0x00 0x00
Because the object does not exist, the slave station responds read and write error command.
COB-ID
Response code Object index
Sub-
index
Response data
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
0x583 0x80 0x00 0x60 0x00 0x00 0x00 0x02 0x06
0x06020000 error code for response indicates that the object dictionary does not exist.