Balluff BDG F-NH Series, Руководство по настройке

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Writing an object:
Figure 8.2: write object
The following example shows the structure of a SDO telegram:
Master sends 1 byte of data (d1) to the Encoder:
600h+ID 8 2Fh 00h 21h 00h d1 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.15: Example SDO send by master
The encoder acknowledges without data bytes:
580h+ID 8 2Fh 00h 21h 00h 00h 00h 00h 00h
CAN-ID DLC Command Object L Object H Sub-
Index
Byte0 Byte1 Byte2 Byte3
Table 8.16: Example SDO answer
Fehler! Verweisquelle konnte nicht gefunden werden. shows the overview of the available commands.
8.3.2 SDO access on objects larger than 4 bytes
As seen in subsection 8.3.1 the payload of a single (expedited) SDO is 4byte. For larger data there is the
possibility of a "normal" segmented SDO transfer or block transfer for up to 127 segments of 4 byte. For example
you want to to read the "high precision preset position value (Obj. 6008h)" or perform a "high precision preset
(Obj. 6009h)", so you have to use the segmented SDO transfer.
Segmented read access on an object:
Figure 8.3: Segmented SDO read access