Kinco FD425-CA-000, Руководство пользователя, Страница: 170 / 206

Kinco FD5 系列伺服驱动器使用手册 第十章 通讯连接
167
station sends out, the slave station needs to return data response. This communication
method is only suitable for parameter setting, not suitable for data transmission with high
real-time requirements.
The communication mode of SDO is divided into upload and download. The host computer
can read and write the OD inside the servo according to the dedicated SDO read and write
instructions. In the CANopen protocol, the content of the object dictionary can be modified
through SDO (Service Data Object). The structure of the SDO command and the guidelines to
follow are described below.
Basic structure of SDO
：
Client
→
Server/Server
→
Client
Byte0 Byte1-2 Byte3 Byte4-7
SDO Command specifier
object
index object
subindex Maximum 4 Bit
data
The SDO command word contains the following information
：
⚫
Download/upload
⚫
Request/response
⚫
Segmented/expedited transfer
⚫
CAN frame data bit length, used for alternately clearing and setting toggle bits for
each subsequent segment. 5 request/response protocols are implemented in
SDO
:
⚫
nitiate Domain Download
⚫
Download Domain Segment
⚫
Initiate Domain Upload
⚫
Upload Domain Segmen
t
⚫
Abort Domain Transfer
Among them, Download refers to the write operation of the object dictionary, and
Upload refers to the read operation of the object dictionary; when reading parameters, use
the Initiate Domain Upload protocol; when setting parameters, use the Initiate Domain
Download protocol; the SDO command word of the protocol (SDO CAN The first Bit) syntax
of the message is described in Table 10-8 and Table 10-9, where "-" means irrelevant and
should be 0).
Table
10-8
Initiate Domain Download
Bit 7 6 5 4 3 2 1 0
Client
→
0 0 1 - n e s
← Server
0 0 1 - - - - -
Table
10-9
Initiate Domain Upload
Bit 7 6 5 4 3 2 1 0
Client →
0 0 1 - - - - -
←
Server
0 0 1 - n e s
Description ：