Lenze E84DGFCT - Manual (Page 48)

Communication manual 8400 motec EtherCAT®
Parameter data transfer
Reading and writing parameters
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EDS84DMOTECAT EN 2.1 - 11/2012
Example
The transmitted response structure during an Upload to index 0x5FD8 (standard value of
C00039/1, Fixed_Setpoint_1 = 0x0FA0) includes 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) 0x03: SDO Response
SDO Size indicator BYTE 1 bit (0) 0x01: Data length in "Data set size"
Transfer type 1 bit (1) 0x01: Expedited transfer
Data set size 2 bits (2, 3) 0x02: 2 bytes data
Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.
Command specifier 3 bits (5 ... 7) 0x02: Upload Response
Index WORD 2 bytes 0xD8: Index low byte of the object
0x5F: Index high byte of the object
Subindex BYTE 1 byte 0x01
Data DWORD 2 bytes 0x0FA0