Parker Hannifin S.p.A. Divisione.S.B.C. manuale d’uso SPD
97
Object dictionary:
Index
0x1000 : Device type (301)
RO
0x1001 : Error register
RO
0x1014 : COB-ID emergency obj
RO
0x1018 : Identity
RO
0x100c
: Guard time
RO
0x100d : Life time factor
RO
0x1200 : Server SDO parameters
RO
0x2000 : Parameters area
RW
0x2001 : Parameters area set bit
RW
0x2002 : Parameters area reset bit
RW
0x2003 : Pico-PLC area
RW
0x2004 : I table area CAM (0..254)
RW
0x2005 : II table area CAM (255..256) RW
As a general rule, sub_index 0 of indexes 0x2000..0x2002 represents the number of the
sub_indexes available, and the subsequent (1..N) sub_indexes represent the parameter
number con1.
Sub_index 1
Æ
Pr[0]
Sub_index 2
Æ
Pr[1]
....
Sub_index n+1
Æ
Pr[n]
Example of device memory access by SDO:
Write Pr80 to the drive:
You will need to write the object by SDO with index-sub_index 0x2000-0x51 (80+1).
If the number of bytes written is greater than two, the operation will also change the
parameter Pr81.
Read Pr60 from the drive:
You will need to read the object by SDO with index-sub_index 0x2000-0x3d (60+1). The
value returned will have a length of 4 bytes, the most significant of which will contain Pr61.
If they are not needed, they can simply be discarded.
Set bit 4 of Pr40:
You will need to write the object by SDO with index-sub_inidex 0x2001-0x20 (40+1) with
the value (0x0010) that represents in binary the bits involved in the operation, in our case bit
4.
Reset bits 4 and 5 of Pr40:
You will need to write the object by SDO with index-sub_inidex 0x2002-0x29 (40+1) with
the value (0x0030) that represents in binary the bits involved in the operation, in our case bits
4 and 5.
