NORD Drivesystems BU0260 - Manual (Page 46)

Supplementary Manual CANopen for NORDAC SK 20E
46 Subject to technical amendments BU 0260 GB
The definition of addresses is summarised in Section 4.9.1 "Predefined Connection Set".
An SDO telegram is divided into a configuration area and a data area. "Little Endian" format is also used for
SDOs.
Configuration area Data area
Control byte Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
E.g.:
"Download"
E.g.:
"Parameter number"
E.g.:
"Array"
E.g.:
"Parameter values"
Byte Low byte High byte Byte Low Low byte Low High byte High Low byte High High byte
4.5.4.3 Transmitting parameter data via SDO
Transmission of an SDO on the bus is as follows:
Transmit an 8 bit value (0x100d Sub 00 / Data = 10)
Control byte Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x2f 0x0d 0x10 0x00 0x0a 0x00 0x00 0x00
Transmitting a 16 bit value (0x1800 Sub 03 / Data = 100)
Control byte Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x2b 0x00 0x18 0x03 0x64 0x00 0x00 0x00
Transmitting a 32 bit value (0x1801 Sub 01 / Data = 0x40000282)
Control byte Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x23 0x01 0x18 0x01 0x82 0x02 0x00 0x40
The response for an error-free telegram is =x60 in Byte 0. Other responses indicate an error (see Section
4.5.4.5 "Cancelling of parameter communication").
4.5.4.4 Loading parameter data via SDO
The request of an SDO via the bus is as follows.
Load a 16 bit value (0x1800 Sub 03)
Control byte Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x40 0x00 0x18 0x03 0x00 0x00 0x00 0x00
Response (0x1800 Sub 3 = 1000)
Status byte Index Sub-index Data
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x4b 0x00 0x18 0x03 0xe8 0x03 0x00 0x00