BONFIGLIOLI Vectron Active Cube, Руководство пользователя

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11.3.1 Read Access
Client

Server, Upload Request
COB-ID 0 1 2 3 4 5 6 7
0x600 + Node-ID cs index sub- index data data data data
0x40 LSB MSB
00 00 00 00
Server

Client, Upload Response
COB-ID 0 1 2 3 4 5 6 7
0x580 + Node-ID cs index sub- index data data data data
0x4x LSB MSB data01 data02 data03 data04
The amount of valid data bytes is coded in the response of the command specifier.
Amount of data bytes 1 2 3 4
Command specifier (cs) 0x4F 0x4B 0x47 0x43
Examples for SDO parameter read access are described in chapter 12.3.1.3 “Examples
of reading parameters”.
11.3.2 Write Access
Client

Server, Download Request
COB-ID 0 1 2 3 4 5 6 7
0x600 + Node-ID cs index sub- index data data data data
0x2x LSB MSB data01 data02 data03 data04
Server

Client, Download Response
COB-ID 0 1 2 3 4 5 6 7
0x580 + Node-ID cs index sub- index data data data data
0x60 LSB MSB 00 00 00 00
The amount of valid data bytes must be coded in the request of the command specifi-
er.
Amount of data bytes 1 2 3 4
Command specifier 0x2F 0x2B 0x27 0x23
NOTE
Using Write accesses for parameters (objects 0x2nnn = index), the sub-index is
used to define the Write access into EEPROM or RAM. Please refer to chapter 12.3.1
“Handling of data sets/cyclic writing”.
Examples for SDO parameter write access are described in chapter 12.3.1.2
“Examples of writing parameters”.
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04/13