Lenze EMF2192IB Manual do Utilizador descarregar pdf (Página 51)

Parameter data transfer

Reading and writing parameters

Writing parameters (expedited download)

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EDSMF2192IB EN 3.1

Example

The transmitted request structure in case of a download from the index 0x1600 contains

the following data:

SDO frame

area

Data field Data type / length Value [hex] / description

Mailbox Header

Length

WORD 2 bytes 0xA: Length of the mailbox service data

Address WORD 2 bytes 0x0

Channel

WORD

6 bits (0 ... 5) 0x0: Reserved

Priority 2 bits (6, 7) 0x0: Lowest priority

Type 4 bits (8 ... 11) 0x3: CANopen over EtherCAT (CoE)

Reserved 4 bits (12 ... 15) 0x0

CANopen Header

Number

WORD

9 bits (0 ...8) 0x0

Reserved 3 bits (9... 11) 0x0

Service 4 bits (12 ... 15) 0x2: SDO request

SDO

Size indicator

BYTE

1 bit (0) 0x01: Size of the data in "data set size"

Transfer type 1 bit (1) 0x01: Expedited transfer

Data set size 2 bits (2, 3) 0x00: 4 bytes data

Complete access 1 bit (4) 0x00: The entry addressed with index and subindex is written.

Command specifier 3 bits (5 ... 7) 0x01: Download Request

Index WORD 2 bytes 0x00: Index low byte of the object

0x16: Index high byte of the object

Subindex BYTE 1 byte 0x01: Subindex of the object

Data DWORD 4 bytes 0x5C930110

1 2 ... 46 47 48 49 50 51 52 53 54 55 56 ... 63 64

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