West-control-solutions KS 800 CANopen Interface Manual Manual de usuario descargar pdf (Pagina 8)

KS 800 CAN-Interface

Example 2. A master reads a process value from a KS800 with node address 2:

The message structure is as follows:

⇒ COB_ID = SDO at node 2 = 0x600 + 2 = 0x602

⇒ CMD = read access = 0x40 = 0x40

⇒ INDEX = process value = 0x2202 = 0x2202

⇒ SUBINDEX = e.g. controller 3 = 03 = 0x03

8 data bytes

COB-ID LEN

Cmd Index Sub. Data

Enquiry:

(Master)

0x602 0x08 0x40 0x02

0x22

0x03 0x00 0x00 0x00 0x00

Reply:

(KS800)

0x582 0x08 0x4B 0x02

0x22

0x03 0xFA 0x00 0x00 0x00

⇒ WERT = 0x00FA = 250 = 25,0°C

By means of the SDOs, controller configuration and parameter setting can be adjusted via indi-

vidual accesses to all parameters (see object directory). However, addressing of all operating

data, which are normally transmitted via PDOs, can also be done via SDOs.

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West-control-solutions KS 800 CANopen Interface Manual Manual de usuario Pagina 8