West-control-solutions KS 800 CANopen Interface Manual Manual de usuario descargar pdf (Pagina 7)

KS 800 CAN-Interface

2 Service data objects

An SDO is logically determined to exactly two partners - 1 master and 1 slave. Simultaneous

access to the KS800 by two different masters is not possible, since only one SDO channel is

available for "tx" and for "rx".

Max. 4 bytes of usable data can be transmitted by means of SDOs. The remaining 4 bytes are

used as follows:

1 byte for the command: transmission mode

2 bytes for the index: object identification

(e.g. 0x2213 for Wvol - see object directory)

1 byte for the subindex: channel number

An example of an SDO data frame for reading and for writing is given below.

Example 1. A master sends a set-point to a KS800 with node address 4:

The message structure is as follows:

⇒ COB_ID = SDO at node 4 = 0x600 + 4 = 0x604

⇒ CMD = write access = 0x2B = 0x2B

⇒ INDEX = set-point = 0x2213 = 0x2213

⇒ SUBINDEX = e.g. controller 1 = 01 = 0x01

⇒ WERT = 30,0°C

) = 300

) = 0x12C

) Fixedpoint1: 1 fixed digit behind the decimal point.

8 data bytes

COB-ID LEN

Cmd Index Sub. Data

Enquiry:

(Master)

0x604 0x08 0x2B 0x13

0x22

0x01 0x2C 0x02 0x00 0x00

Reply:

(KS800)

0x584 0x08 0x60 0x13

0x22

0x01 0x00 0x00 0x00 0x00

9499 040 49511 7

1 2 3 4 5 6 7 8 9 10 11 12 ... 45 46

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West-control-solutions KS 800 CANopen Interface Manual Manual de usuario Pagina 7