Baumer GXP5W Handmatig - Pagina 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.
ID
DLC
580h + Node-
8
ID
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
x
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
x
8/41
Data 1
Data 2
Data 3
Byte 6
Byte 7
Byte 8
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany