Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 22)

To write data, the control byte must be written in the manner shown below:

Client Initiate Domain Download Server

Byte 1

2345678

request

76543210

indication

ccs=1 X n e s m d

ÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞ

ÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜ

Byte 1

2345678

confirm

76543210

response

scs=3 X m reserved

2. Index (Bytes 2 and 3):

The Index is the main entry in the Object Dictionary, and divides the parameters into

groups. (Example: Index 2022

is position data for the Position mode).

As for all CAN data, the Index is stored with the bytes in reverse order.

E.g. Index 6040

means Byte2=40

,Byte3=60

)

3. Sub-index (Byte 4):

The Sub-index divides the parameters within a group of parameters.

4. Data field (Bytes 5 ... 8):

These components are used for the exchange of user data. In read-request

telegrams to the AX2000/2500 they are set to 0. They have no content in a

write confirmation from the AX2000/2500 if the transfer was successful, but

if the write operation was faulty they contain an error code (Þ 3.4.5.6).

3.4.5.2 Initiate SDO Download Protocol

The Initiate SDO Download protocol is used for write access to Objects with up to 4 bytes of user

data (expedited transfer) or to initiate a segment transfer (normal transfer).

Expedited transfer is also used for Objects that only have the character of a command (e.g. ASCII:

SAVE) and thus do not require any further user data.

3.4.5.3 Download SDO Segment Protocol

The Download SDO Segment protocol is used for write access to Objects with more than 4 bytes of

user data (normal transfer). This service is not supported by AX2000/2500 at present, since there

are no Objects that make use of more than 4 bytes of user data.

3.4.5.4 Initiate SDO Upload Protocol

The SDO Upload protocol is used for read access to Objects with up to 4 bytes of user data (expe-

dited transfer) or to initiate a segment transfer (normal transfer).

3.4.5.5 Upload SDO Segment Protocol

The Upload SDO Segment protocol is used for read access to Objects with more than 4 bytes of

user data (normal transfer). This service is not supported by AX2000/2500 at present, since there

are no Objects that make use of more than 4 bytes of user data.

22 CANopen for AX2000/2500

CANopen communication profile 07/2007 BECKHOFF

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 136 137

Comentarios a estos manuales

Sin comentarios

Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 22

Comentarios a estos manuales

Relacionado con productos y manuales para Equipo Beckhoff AX2000 CANopen communication profile