Lenze EtherCAT Controller-based Automation Manuel d'utilisateur télécharger pdf (Page 124)

9 Function library L_IODrvEtherCAT.lib

9.2 CoE Interface

124

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

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Example

In the case of a download to index 0x5FA7 (C00088/0, rated motor current I = 10.2 A), the

transmitted request structure contains the following data:

SDO frame area Data field Data type / length Value / description

Mailbox header Length WORD 2 bytes 0x0A: Length of the mailbox service data

Address WORD 2 bytes 0x00

Channel WORD 6 bits

(0 ... 5)

0x00: Reserved

Priority 2 bits

(6, 7)

0x00: Lowest 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)

0x02: 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 of 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 0xA7: Index low byte of the object

0x5F: Index high byte of the object

Subindex BYTE 1 byte 0x00: Subindex of the object

Data DWORD 4 bytes 0x00000066 (10.2 x 10 = 102

dec

)

1 2 ... 119 120 121 122 123 124 125 126 127 128 129 ... 204 205

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Lenze EtherCAT Controller-based Automation Manuel d'utilisateur Page 124

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