Lenze EtherCAT Controller-based Automation Uživatelský manuál stáhnout pdf (Strana 122)

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

122

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17

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SDO Download Expedited Request

An "SDO Download Normal Request" is effected if the data length of the parameter data to be

written is  4bytes.

Detailed breakdown of the data for an "SDO Download Normal Request":

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)

0x02: SDO request

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 with index and

subindex is written.

0x01: The complete object is written. (Currently

not supported.)

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.

Complete size DWORD 4 bytes Total data length of the object

Data BYTE n - 10

bytes

Data of the object

1 2 ... 117 118 119 120 121 122 123 124 125 126 127 ... 204 205

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