Lenze EtherCAT Controller-based Automation Instrukcja Użytkownika Pobierz pdf (Strona 118)

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

118

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

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SDO Upload Expedited Response

An "SDO Upload Normal Response" is effected if the data length of the parameter data to be read is

 4bytes.

Detailed breakdown of the data for an "SDO Upload Normal Response":

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)

0x03: SDO response

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 read.

0x01: The complete object is read. (Currently not

supported.)

Command specifier 3 bits

(5 ... 7)

0x02: Upload response

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 ... 113 114 115 116 117 118 119 120 121 122 123 ... 204 205

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