18 i-1200/i-1201: server sdo parameters, 18 i−1200/i−1201: server sdo parameters, Implemented canopen objects – Lenze EMF2178IB User Manual
Page 107
Implemented CANopen objects
Overview
I−1200/I−1201: Server SDO parameters
l
107
EDSMF2178IB EN 3.0
13.2.18
I−1200/I−1201: Server SDO parameters
Server SDOs can be parameterised with two objects:
ƒ
I−1200 for the parameter data channel 1 (SDO1)
ƒ
I−1201 for the parameter data channel 2 (SDO2)
With I−1201 the identifier can be written in sending and receiving direction, I−1200 has only
got reading access. The server SDO parameters are only valid, if bit 31 = "0" in both
transmission directions (subindex 1 and 2).
Index
Subindex
Name
Data type
Value range
Authorisatio
n
I−1200
0
Server SDO1 parameters
U8
0 ... 255
ro
1
Identifier
Client
® server (rx)
U32
0 ... (2
32
− 1)
ro
2
Identifier
Server
® client (tx)
U32
0 ... (2
32
− 1)
ro
I−1201
0
Server SDO2 parameters
U8
0 ... 255
ro
1
Identifier
Client
® server (rx)
U32
0 ... (2
32
− 1)
rw
2
Identifier
Server
® client (tx)
U32
0 ... (2
32
− 1)
rw
Subindices
Subindex
Description
0
Max. supported subindex = 3
1
Specification of the receive identifier
2
Specification of the transmit identifier
Data telegram assignment for subindex 1 and 2
Byte 8
7th byte
Byte 6
Byte 5
MSB
U32
LSB
31
30
29
28
...
11
10
...
0
0/1
0
0
Bit value: 0
11−bit identifier
Bits
Value
Description
0 ... 10
X
11−bit identifier
11 ... 29
0
The extended identifier is not supported. Any of these bits must be "0".
30
0
Reserved
31
0
SDO valid
1
SDO invalid