Lenze E84DGFCT - Manual (Page 47)

EDS84DMOTECAT EN 2.1 - 11/2012
L
47
Communication manual 8400 motec EtherCAT®
Parameter data transfer
Reading and writing parameters
SDO Upload Normal Response
An "SDO Upload Normal Response" is carried out if the data length of the parameter data
to be read amounts to ≥ 4 bytes.
Detailed breakdown of the data for an "SDO Upload Normal Response":
SDO frame area Data field Data type / length Value / description
Mailbox header Length WORD 2 bytes n ≥ 0x0A: Length of the mailbox service data
Address WORD 2 bytes Station address of the source if an EtherCAT master is the
instructing party.
Station address of the target if an EtherCAT slave is the
instructing party.
Channel WORD 6 bits (0 ... 5) 0x00: Reserved
Priority 2 bits (6, 7) 0x00: Lowest priority
...
0x03: Highest 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) 0x03: SDO Response
SDO Size indicator BYTE 1 bit (0) 0x01
Transfer type 1 bit (1) 0x00: Normal transfer
Data set size 2 bits (2, 3) 0x00
Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.
0x01: The entire object is read. (Is not supported at
present.)
Command specifier 3 bits (5 ... 7) 0x02: Upload Response
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "Complete access" = 0x01.
Complete size DWORD 4 bytes Total data length of the object
Data BYTE n - 10 bytes Data of the object