Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
55
5
CANopen profile via CAN
CAN Interfaces of MOVIDRIVE® B
5.4.6
Parameter access via SDO
MOVIDRIVE
®
B supports an SDO channel. The COB IDs are fixed for this SDO chan-
nel. For RX-SDO, the COB ID is "600
hex
+ CANopen slave address", and for TX-SDO
the COB ID is "580
hex
+ CANopen slave address". The SDO channel supports
expedited and non-expedited transfers. SDO mechanisms are described in detail in the
CANopen specification DS301.
Example:
• The transfer mode of TXPDO1 (index 0x1800 subindex 2) is to be read.
• The request telegram with the COB ID CANopen slave address contains
the 8 data bytes "40 00 18 02 xx xx xx xx" (hexadecimal notation).
– 40
= read command
– 00 18
= index (low byte first)
– 02
= subindex
– xx xx xx xx = without meaning
• The response telegram with the COB ID CANopen slave address contains
the 8 data bytes "4F 00 18 02 01 xx xx xx xx" (hexadecimal notation).
– 4F
= 1 byte read
– 00 18
= index
– 02
= subindex
– 01
= value (= synchronous)
– xx xx xx
= without meaning
• The following SDO commands and responses are important:
– 2F
= write 1 byte (command)
– 2B
= write 2 bytes (command)
– 23
= write 4 bytes (command)
– 60
= successfully written (response)
– 4F
= 1 byte read (response)
– 4B
= 2 bytes read (response)
– 43
= 4 bytes read (response)
– 80
= error while executing service (response)
In the 4-byte data range of an SDO telegram, the valid data bytes are entered in Intel
format aligned to the left (low byte first). All communication specific indices of
MOVIDRIVE
®
B are listed in the EDS file "mdxb.eds".
Parameter access
via SDOs to the
SEW-specific
parameters of
MOVIDRIVE
®
B
All SEW-specific parameters of the MOVIDRIVE
®
B (0x2000-0xFFFF) are stored in the
corresponding index with subindex 0.
Example: You have to access index 8300
dec
, subindex 0 to read the software version of
MOVIDRIVE
®
B.
CANopen only allows the "read" and "write" services for manufacturer-specific object via
SDO. If you want to use the SEW-specific services of the MOVILINK
®
fieldbus unit
profile (e.g. "read minimum", "read maximum", "read default", "write volatile", ...), you
can do so using objects 0x2066 and 0x2067. Object 0x2067 (SIGNED32) contains the
data that should be performed in the next MOVILINK
®
service or the result of the last
MOVILINK
®
service, if it was successful. Writing the object 0x2066 triggers the
MOVILINK
®
service. The object 0x2066 (UNSIGNED32) is structured as follows:
Bit 31 - bit 24
Bit 23 - bit 16
Bit 15- bit 8
Bit 7 - bit 0
Administration
Reserved
Index high
Index low
Summary of Contents for MOVIDRIVE MDX60B
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