Lenze EMF2192IB - Manual (Page 44)

Parameter data transfer
Reading and writing parameters
Reading parameters (expedited upload)
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44 EDSMF2192IB EN 3.1
9.2.1 Reading parameters (expedited upload)
1. The master transmits "Initiate Domain Upload Request".
2. The slave acknowledges the request with a positive response ("Initiate Domain
Upload Response").
In the event of an error the slave responds with "Abort Domain Transfer".
)
Note!
In the case of jobs for the controller, please make sure that you convert the
code into an index (
¶ 43).
SDO Upload Request
Detailed breakdown of the data for an "SDO Upload Request":
SDO frame
area Data field Data type / length Value / description
Mailbox Header Length WORD 2 bytes 0x0: 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 Reserved BYTE 4 bits (0 ... 3) 0x00
Complete access 1 bit (4) 0x00: The entry addressed with index and subindex is read.
0x01: The complete object is read.
Command specifier 3 bits (5 ... 7) 0x02: Upload Request
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "complete access" = 0x01.
Reserved DWORD 4 bytes 0x00