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IL•1F CANopen DS301 | 6 Operation |
6.2Using SDO commands
6.2.1Writing parameters
Task The parameter Motion.acc, 29:26 (acceleration) is to be set to a value of 10,000.
Index and subindex must be converted to hexadecimal notation and the constant 3000h added to the index for the SDO access:
•Index:29 = 1Dh + 3000h = 301Dh
•Subindex: 26 = 1Ah
•Value:10000 = 00002710h
The value 23h is to be entered as a CCD (Client Command Specifier) since the parameter has a 32 bit data type.
Transmit data
Object | COB ID | CCD | Idx | Sdx | Data | Description |
Tx 301Dh:1Ah Motion.acc | 600h+ID | 23h | 1Dh 30h | 1Ah | 10h 27h 00 00 Sets the acceleration to | |
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value
Refer to the column "Data type" in the parameter description for the data type of the value to be written. The CAN protocol used transmits 16 bit values and 32 bit values in the format "lowest value byte first – highest value byte last". When an INT16 or a UINT16 value is transmitted, the CCD corresponding to the data type must be included. The value must be stored in the first two data bytes, the last two data bytes must be "0".
Receive data
Object | COB ID | CCD | Idx | Sdx | Data | Description |
Rx 301Dh:1Ah Motion.acc | 580h+ID | 60h | 1Dh 30h | 1Ah | XX XX XX XX The response data does not have | |
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| a meaning. |
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0198441113586, V2.01, 11.2008
Fieldbus interface | 61 |