Lenze E84AYCET EtherCAT MCI module - Manual (Page 78)

9 Parameter data transfer
9.2 Reading and writing parameters
78
Lenze · E84AYCET communication module (EtherCAT) · Communication Manual · DMS 5.0 EN · 05/2013 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Example
In the case of a Download to the index 0x1600, 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 the "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 an index and
subindex is written.
Command specifier 3 bits
(5 ... 7)
0x01: Download request
Index WORD 2 bytes 0x00: Index low byte of the object
0x16: Index high byte of the object
Subindex BYTE 1 byte 0x01: Subindex of the object
Data DWORD 4 bytes 0x5C930110