2 writing parameters (sdo download), Writing parameters (sdo download), Communication manual 8400 motec ethercat – Lenze E84DGFCT User Manual
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Communication manual 8400 motec EtherCAT®
Parameter data transfer
Reading and writing parameters
9.2.2
Writing parameters (SDO Download)
1. The master sends "Initiate Domain Download Request".
2. The slave acknowledges the request with a positive response ("Initiate Domain
Download Response").
In the event of an error the slave responds with "Abort Domain Transfer".
SDO Download Expedited Request
An "SDO Download Expedited Request" is carried out if the data length of the parameter
data to be written amounts to a maximum of 4 bytes.
Detailed breakdown of the data for an "SDO Download Expedited Request":
Note!
In the case of jobs for the controller, please make sure that you convert the code
into an index.
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
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)
0x02: SDO Request
SDO
Size indicator
BYTE
1 bit (0)
0x01: Data size in "Data set size"
Transfer type
1 bit (1)
0x01: Expedited transfer
Data set size
2 bits (2, 3)
0x00: 4 bytes data
0x01: 3 bytes data
0x02: 2 bytes data
0x03: 1 byte data
Complete access
1 bit (4)
0x00: The entry addressed by index and subindex is
written.
0x01: The entire object is written. (Is not supported at
present.)
Command specifier
3 bits (5 ... 7)
0x01: Download Request
Index
WORD
2 bytes
Index of the object
Subindex
BYTE
1 byte
Subindex of the object
0x00 or 0x01 if "Complete access" = 0x01.
Data
DWORD
4 bytes
Data of the object