Lenze E84DGFCT - Manual (Page 46)

Communication manual 8400 motec EtherCAT®
Parameter data transfer
Reading and writing parameters
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EDS84DMOTECAT EN 2.1 - 11/2012
SDO Upload Expedited Response
An "SDO Upload Expedited Response" is carried out if the data length of the parameter
data to be read amounts to a maximum of 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
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) 0x03: SDO Response
SDO Size indicator BYTE 1 bit (0) 0x01: Data size in "Data set size"
Transfer type 1 bit (1) 0x01: Expedited transfer
Data set size 2 bits (2, 3) 0x00: 4 bytes data
0x01: 3 bytes data
0x02: 2 bytes data
0x03: 1 byte data
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 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