Lenze E94AYCET - Manual (Page 71)

Lenze · E94AYCET communication module (EtherCAT®) · Communication Manual · DMS 9.0 EN · 02/2014 · TD17
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9 Parameter data transfer
9.2 Reading and writing parameters
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SDO Upload Expedited Response
An "SDO Upload Expedited Response" is effected if the data length of the parameter data to be read
is up to 4 bytes.
Detailed breakdown of the data for an "SDO Upload Expedited Response":
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 Station address of the source if an EtherCAT
master is the initiator.
Station address of the target if an EtherCAT slave
is the initiator.
Channel WORD 6 bits
(0 ... 5)
0x00: Reserved
Priority 2 bits
(6, 7)
0x00: Lowest priority
...
0x03: Highest 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: Size of the data in the "Data set size"
Transfer type 1 bit
(1)
0x01: Expedited transfer
Data set size 2 bits
(2, 3)
0x00: 4 bytes of data
0x01: 3 bytes of data
0x02: 2 bytes of data
0x03: 1 byte of data
Complete access 1 bit
(4)
0x00: The entry addressed with an index and
subindex is read.
0x01: The complete object is read. (Is currently
not supported.)
Command specifier 3 bits
(5 ... 7)
0x02: Upload response
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "Complete access" = 0x01.
Data DWORD 4 bytes Data of the object