Communication protocol 97
The Rx PDO is mapped by writing to the 0x1600 object. By default,
there is no parameter mapped to the Rx PDO. Choose which
parameters are exchanged by the Rx PDO.
Note: The maximum number of I/O parameters that can be
simultaneously mapped for cyclic communication depends on the
drive type and application. For example, ACS880 supports
12 inputs and 12 outputs.
Service Data Objects
Service Data Object (SDO) uses asynchronous data transmission
and is used to access object without mapping them to a PDO
connection. With SDO communication, all CANopen objects in the
adapter module can be accessed.
Ethernet POWERLINK provides different kinds of SDO transfer
methods. The adapter module supports SDO transfer via Ethernet
POWERLINK ASnd frames in asynchronous phase. For further
information, see Ethernet POWERLINK Communication Profile
Specification Version 1.1.0.
SDO Protocol
The Download Protocol (for write commands) and Upload Protocol
(for read commands) are described in the Ethernet POWERLINK
Communication Profile Specification Version 1.1.0.
The adapter module supports the following commands:
•
Write by Index
•
Read by Index
When the Write by Index command is used, the client of an SDO
(the MN) downloads data to the adapter module.
When the Read by Index command is used, the client of an SDO
(the MN) requests the adapter module to upload data to the client.
To address the objects, Indexes and Sub-Indexes are used. An
Index (0…65535) specifies and entry of the device object and a
Sub-Index (0…254) specifies a component of the device object
dictionary entry.
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