Lenze EMF2192IB - Manual (Page 51)

Parameter data transfer
Reading and writing parameters
Writing parameters (expedited download)
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51 EDSMF2192IB EN 3.1
Example
The transmitted request structure in case of a download from the index 0x1600 contains
the following data:
SDO frame
area Data field Data type / length Value [hex] / description
Mailbox Header Length WORD 2 bytes 0xA: Length of the mailbox service data
Address WORD 2 bytes 0x0
Channel WORD 6 bits (0 ... 5) 0x0: Reserved
Priority 2 bits (6, 7) 0x0: Lowest priority
Type 4 bits (8 ... 11) 0x3: CANopen over EtherCAT (CoE)
Reserved 4 bits (12 ... 15) 0x0
CANopen Header Number WORD 9 bits (0 ...8) 0x0
Reserved 3 bits (9... 11) 0x0
Service 4 bits (12 ... 15) 0x2: SDO request
SDO Size indicator BYTE 1 bit (0) 0x01: Size 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 data
Complete access 1 bit (4) 0x00: The entry addressed with index and subindex is written.
Command specifier 3 bits (5 ... 7) 0x01: Download Request
Index WORD 2 bytes 0x00: Index low byte of the object
0x16: Index high byte of the object
Subindex BYTE 1 byte 0x01: Subindex of the object
Data DWORD 4 bytes 0x5C930110