Lenze EMF2192IB - Manual (Page 46)

Parameter data transfer
Reading and writing parameters
Reading parameters (expedited upload)
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46 EDSMF2192IB EN 3.1
SDO Upload Normal Response
An "SDO Upload Normal" takes place if the data length of the parameter data to be read
amounts to
³ 4 bytes.
Detailed breakdown of the data for an "SDO Upload Normal Response":
SDO frame
area Data field Data type / length Value [hex] / description
Mailbox Header Length WORD 2 bytes n ³ 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
Transfer type 1 bit (1) 0x00: Normal transfer
Data set size 2 bits (2, 3) 0x00
Complete access 1 bit (4) 0x00: The entry addressed with index and subindex is read.
0x01: The complete object is read.
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.
Complete size DWORD 4 bytes Total data length of the object
Data BYTE n − 10 bytes Data of the object