Lenze EtherCAT Controller-based Automation - Manual (Page 124)

9 Function library L_IODrvEtherCAT.lib
9.2 CoE Interface
124
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
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Example
In the case of a download to index 0x5FA7 (C00088/0, rated motor current I = 10.2 A), the
transmitted request structure contains the following data:
SDO frame area Data field Data type / length Value / description
Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data
Address WORD 2 bytes 0x00
Channel WORD 6 bits
(0 ... 5)
0x00: Reserved
Priority 2 bits
(6, 7)
0x00: Lowest priority
Type 4 bits
(8 ... 11)
0x03: CANopen over EtherCAT (CoE)
Reserved 4 bits
(12 ... 15)
0x00
CANopen header Number WORD 9 bits
(0 ... 8)
0x00
Reserved 3 bits
(9 ... 11)
0x00
Service 4 bits
(12 ... 15)
0x02: SDO request
SDO Size indicator BYTE 1 bit
(0)
0x01: Size of the data in "Data set size"
Transfer type 1 bit
(1)
0x01: Expedited transfer
Data set size 2 bits
(2, 3)
0x00: 4 bytes of data
Complete access 1 bit
(4)
0x00: The entry addressed with index and
subindex is written.
Command specifier 3 bits
(5 ... 7)
0x01: Download request
Index WORD 2 bytes 0xA7: Index low byte of the object
0x5F: Index high byte of the object
Subindex BYTE 1 byte 0x00: Subindex of the object
Data DWORD 4 bytes 0x00000066 (10.2 x 10 = 102
dec
)