FAULHABER Motion Control Systems LM-Motors ... - MicroMo

3 CANopen protocol description3.3 SDO (service data object)The service data object can be used to read and describe parameters in the object dictionary (OD).They are accessed via the 16 bit index and the 8 bit subindex. The Motion Controller functions as aserver, i.e. it makes data available (upload) at the request of the client (PC, PCS) (Upload) or receivesdata from the client (download).Byte0 Byte1-2 Byte3 Byte4Command Specifier 16 bit index 8 bit subindex 1-4 byte parameter data Entry in the object dictionaryA differentiation is made between 2 SDO transfer types:• Expedited transfer: Transfer of 4 bytes maximum• Segmented transfer: Transfer of more than 4 bytesAs, apart from for query of the version and the device name, only 4 bytes maximum are transferredby the FAULHABER Motion Controllers, only the expedited transfer is described in the following.The size of the message frames is always 8 bytes and their structure is as follows:Read OD entries: Client Server, upload request11 bit identifier 8 bytes user data0x600 (1536d) + Node ID 0x40 Index LB Index HB Subindex 0 0 0 0Server Client, upload response11 bit identifier 8 bytes user data0x580 (1408d) + Node ID 0x4x Index LB Index HB Subindex LLB (D0) LHB (D1) HLB (D2) HHB (D3)Byte0 (0x4x) gives the number of valid data bytes in D0-D3 and the transfer type and is coded forexpedited transfer ( 4 data bytes) as follows:• 1 data byte in D0: Byte0 = 0x4F• 2 data bytes in D0-D1: Byte0 = 0x4BWrite OD entries: Client Server, download request• 3 data bytes in D0-D2: Byte0 = 0x47• 4 data bytes in D0-D3: Byte0 = 0x4311 bit identifier 8 bytes user data0x600 (1536d) + Node ID 0x2x Index LB Index HB Subindex LLB (D0) LHB (D1) HLB (D2) HHB (D3)Byte0 (0x2x) gives the number of valid data bytes in D0-D3 and the transfer type and is coded forexpedited transfer ( 4 data bytes) as follows:• 1 data byte in D0: Byte0 = 0x2F• 2 data bytes in D0-D1: Byte0 = 0x2BIf it is not necessary to specify the number of data bytes: Byte0 = 0x22Server Client, download response• 3 data bytes in D0-D2: Byte0 = 0x27• 4 data bytes in D0-D3: Byte0 = 0x2311 bit identifier 8 bytes user data0x580 (1407d) + Node ID 0x60 Index LB Index HB Subindex 0 0 0 020