West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 8)

KS 800 CAN-Interface
Example 2. A master reads a process value from a KS800 with node address 2:
The message structure is as follows:
⇒
COB_ID = SDO at node 2 = 0x600 + 2 = 0x602
⇒
CMD = read access = 0x40 = 0x40
⇒
INDEX = process value = 0x2202 = 0x2202
⇒
SUBINDEX = e.g. controller 3 = 03 = 0x03
8 data bytes
COB-ID LEN Cmd Index Sub. Data
Enquiry:
(Master)
0x602 0x08 0x40 0x02
0x22 0x03 0x00 0x00 0x00 0x00
Reply:
(KS800)
0x582 0x08 0x4B 0x02
0x22 0x03 0xFA 0x00 0x00 0x00
⇒
WERT = 0x00FA = 250 = 25,0
°
C
By means of the SDOs, controller configuration and parameter setting can be adjusted via indi-
vidual accesses to all parameters (see object directory). However, addressing of all operating
data, which are normally transmitted via PDOs, can also be done via SDOs.
8 9499 040 49511