Manual VIPA System 300S SPEED7
Chapter 4
Deployment
HB140E - CP - RE_342-1CA70 - Rev. 09/46
4-19
For access to the object directory, the
S
ervice-
D
ata-
O
bject (SDO) is used.
The SDO allows you a read or write access to the object directory. In the
CAL-Layer-7-Protocol you find the specification of the Multiplexed-Domain-
Transfer-Protocol that is used by the SDOs. This protocol allows you to
transfer data with any length. At need, the messages are divided into
several CAN messages with identical identifier (segmentation). A SDO is
transferred acknowledged, i.e. every reception of a message is
acknowledged.
Note!
A more detailed description of the SDO telegrams is to find in the CiA norm
DS-301. In the following only the error messages are described that may
occur at a wrong parameter communication.
Every CPU has the SFC 219 integrated. This allows you to start a SDO
read or write access from your PLC program to the CAN master.
You address your master via the plug-in location and the destination slave
via its CAN address. The process data is defined by
INDEX
and
SUBINDEX
. Via SDO every access transfers max. one data word process
data. The SFC 219 contains the following parameters:
Parameter
Declaration Type
Description
REQUEST
IN
BOOL
1 = Activation
SLOT_MASTER
IN
BYTE
SPEED-Bus slot (101...116)
NODEID
IN
BYTE
CAN address (1...127)
TRANSFERTYP IN
BYTE
Type of transfer
INDEX IN
DWORD
CANopen
index
SUBINDEX
IN
DWORD
CANopen subindex
CANOPENERROR OUT
DWORD
CANopen error
RETVAL
OUT
WORD
Error code (0=OK)
BUSY
OUT
BOOL
Function is busy
DATABUFFER
INOUT
ANY
Data Buffer for SFC communication
Control parameter: 1: Start the order
101...115: Slot 1...15 of SPEED-Bus master
Address of the CANopen node (1...127)
40h: Read SDO
23h: Write SDO (1 DWORD)
2Bh: Write SDO (1 WORD)
2Fh: Write SDO ( 1 BYTE)
CANopen Index
CANopen Subindex
SDO
SFC 219 CAN_TLGR
SDO request to CAN
master
Parameter
REQUEST
SLOT_MASTER
NODEID
TRANSFER TYPE
INDEX
SUBINDEX
Содержание 300S SPEED7 - CP
Страница 1: ...VIPA System 300S SPEED7 CP 342 1CA70 Manual HB140E_CP RE_342 1CA70 Rev 09 46 November 2009...
Страница 4: ...Contents Manual VIPA System 300S SPEED7 ii HB140E CP RE_342 1CA70 Rev 09 46...
Страница 8: ...Safety information Manual VIPA System 300S SPEED7 4 HB140E CP RE_342 1CA70 Rev 09 46...
Страница 92: ...Chapter 4 Deployment Manual VIPA System 300S SPEED7 4 54 HB140E CP RE_342 1CA70 Rev 09 46...
Страница 94: ...Index Manual VIPA System 300S SPEED7 A 2 HB140E CP RE_342 1CA70 Rev 09 46 M Stich...