Baumer GXP5W Manual - Halaman 8

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3.4.3. Service data communication

The service data objects comply with the CiA standards. An object can be accessed via an index and

subindex. The data can be requested or, if necessary, written to the object.

General information on the SDOs

Structure of an SDO telegram:

COB-ID

DLC

Command

An SDO COB-ID consists of the following:

Master -> Encoder

Encoder -> Master

DLC (data length code) designates the length of the telegram. This consists of the following:

1 byte command + 2 bytes object + 1 byte subindex + number of data bytes (0 - 4).

The command byte specifies whether data are read or set and how many data bytes are concerned:

SDO Command

Description

22h

Download Request

23h

Download Request

2Bh

Download Request

2Fh

Download Request

60h

Download Response

40h

Upload Request

42h

Upload Response

43h

Upload Response

4Bh

Upload Response

4Fh

Upload Response

80h

Abort Message

An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The

object and the subindex are those of the desired object. The error code is present in byte 5 - 8.

DLC

580h + Node-

Byte 8 - 5 results in the SDO abort message (Byte 8 = MSB).

The following messages are supported:

05040001h

06010000h

06010001h

06010002h

06020000h

06090011h

06090030h

06090031h

08000000h

08000020h

08000021h

Manual_GXP5_417_Lift_EN.doc

04.05.11

Object L

Object H

: 600h + Node-ID

: 580h + Node-ID

Byte 1

Byte 2

Byte 3

80h

Object L

Object H

: Command byte is not supported

: Incorrect access to an object

: Read access to Write Only

: Write access to Read Only

: Object is not supported

: Subindex is not supported

: Value outside limits

: Value too large

: General error

: Incorrect memory signature ("save")

: Data cannot be saved

Subinde

Data 0

Data Length

Max. 4 bytes

Send parameters to encoder

4 bytes

2 bytes

1 byte

Confirmation of adoption to Master

Request parameters from encoder

Max. 4 bytes

Parameters to Master with max. 4 bytes

4 bytes

2 bytes

1 byte

Encoder signals error code to Master

Byte 4

Byte 5

Subinde

ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3

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Data 1

Data 2

Data 3

Byte 6

Byte 7

Byte 8

Baumer IVO GmbH & Co. KG

Villingen-Schwenningen, Germany