9function library l_iodrvethercat.lib – Lenze EtherCAT Controller-based Automation User Manual

Page 119

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

119

9

Function library L_IODrvEtherCAT.lib

9.2

CoE Interface

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Example
In the case of an upload to index 0x5FC2 (standard setting of C00061/0 (heatsink

temperature) = 0x0000002B (43 °C)), the transmitted response 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)

0x03: SDO response

SDO

Size indicator

BYTE

1 bit

(0)

0x01: Length 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 read.

Command specifier

3 bits

(5 ... 7)

0x02: Upload response

Index

WORD

2 bytes

0xC2: Index low byte of the object

0x5F: Index high byte of the object

Subindex

BYTE

1 byte

0x00

Data

DWORD

4 bytes

0x0000002B

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