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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 6 Operation
Fieldbus interface 61
6.2 Using SDO commands
6.2.1 Writing 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 3000
h
added to the index for the SDO access:
• Index:29 = 1D
h
+ 3000
h
= 301D
h
• Subindex: 26 = 1A
h
• Value:10000 = 00002710
h
The value 23
h
is to be entered as a CCD (Client Command Specifier)
since the parameter has a 32 bit data type.
Transmit data
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
Tx 301D
h
:1A
h
Motion.acc 600
h
+ID 23
h
1D
h
30
h
1A
h
10
h
27
h
00 00 Sets the acceleration to
10000 min
-1
*s = 2710
h
as a 32 bit
value
Object COB ID CCD Idx Sdx Data Description
Rx 301D
h
:1A
h
Motion.acc 580
h
+ID 60
h
1D
h
30
h
1A
h
XX XX XX XX The response data does not have
a meaning.