Lenze E84DGFCT - Manual (Page 45)

EDS84DMOTECAT EN 2.1 - 11/2012
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45
Communication manual 8400 motec EtherCAT®
Parameter data transfer
Reading and writing parameters
9.2.1 Reading parameters (SDO Upload)
1. The master sends "Initiate Domain Upload Request".
2. The slave acknowledges the request with a positive response ("Initiate Domain Upload
Response").
In the event of an error the slave responds with "Abort Domain Transfer".
SDO Upload Request
Detailed breakdown of the data for an "SDO Upload Request":

Note!
In the case of jobs for the controller, please make sure that you convert the code
into an index.
 Indexing of the Lenze codes
( 44)
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
instructing party.
Station address of the target if an EtherCAT slave is the
instructing party.
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) 0x02: SDO Request
SDO Reserved BYTE 4 bits (0 ... 3) 0x00
Complete access 1 bit (4) 0x00: The entry addressed by index and subindex is read.
0x01: The entire object is read. (Is not supported at
present.)
Command specifier 3 bits (5 ... 7) 0x02: Upload Request
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "Complete access" = 0x01.
Reserved DWORD 4 bytes 0x00