CANopen communication
Parameter data transfer (SDO transfer)
Reading parameters (example)
5
22
KHB 13.0003-EN 2.0
5.2.2
Reading parameters (example)
Problem
The operating mode (object 6060_00) of the controller with node address 1 is to be read
via the parameter channel.
Telegram to the drive controller
Value
Info
Identifier
= Basic iden node address
= 600 + 1 =
601
h
z
Basic identifier for parameter channel = 600
h
z
Node address = 1
Data length
=
05
Command code
=
40
h
z
“Read request” command (request to read a
parameter)
Index
=
6060
h
z
Operating mode index
Subindex
=
0
z
Subindex = 0
Data 1
=
00
h
z
Read request only
11 bits
4 bits
User data
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1
Data 2
Data 3
Data 4
601
h
05
h
40
h
60
h
60
h
00
h
00
h
–
–
–
Telegram from the drive controller
Value
Info
Identifier
= Basic iden node address
= 580 + 1 =
581
h
z
Basic identifier for parameter channel = 580
h
z
Node address = 1
Data length
=
05
Command code
=
43
h
z
“Read response” command (response to the read
request with the actual value)
Index
=
6060
h
z
Operating mode index
Subindex
=
0
z
Subindex = 0
Data 1
=
03
h
z
Assumption: The operating mode is set to 03
h
(speed).
11 bits
4 bits
User data
Identifier
Data
length
Command
code
Index
low byte
Index
high byte
Subindex
Data 1
Data 2
Data 3
Data 4
581
h
05
h
43
h
60
h
60
h
00
h
03
h
–
–
–
