EM-RES-03 2910/07
5.10 Communication channels, SDO1/SDO2
5.10.1 SDO telegrams (SDO1/SDO2)
The service used for the exchange of parameter data is SDO Segment Protocol
Expedited. The data (type uint, int, long) are exchanged in a telegram.
Access to the parameters in the frequency inverters with a statement of parameter
number and data set is displayed via the addressing defined for object access pursu-
ant to the specifications of CANopen via Index/Sub-Index.
Index = parameter number / Sub index = data set.
The data to be transmitted have a length of 2 bytes for uint/int and 4 bytes for long.
As standardization and simplification, 4 bytes are always transmitted.
The data are on bytes 4...7 of the SDO telegram.
- uint/int variables are transmitted in bytes 4 and 5
with bytes 6 und 7 = 0.
- long variables are transmitted in bytes 4...7.
Writing parameters:
Client Î Server
SDO Download (expedited)
0 1 2 3 4 5 6 7
Ctrl. byte Parameter number Data set Data
0x22 LSB MSB 0xnn LSB MSB
uint/int LSB MSB 0x00 0x00
long LSB ... ... MSB
Server Î Client Download Response Î Writing process free of errors
0 1 2 3 4 5 6 7
Ctrl. byte Parameter number Data set Data
0x60 LSB MSB 0xnn 0
Server Î Client Abort SDO Transfer Î Writing process faulty
0 1 2 3 4 5 6 7
Ctrl. byte Parameter number Data set Data
0x80 LSB MSB 0xnn Code 0 0 0
The error code is stated in byte 4 in a faulty reading process.
(see Table, failure codes).
Attention: Control byte 0x22 for the identification "SDO Download expedited” does
not consider the bits "s” (data size indicated) and "n” (number of bytes
not containing data). If set, they are ignored. The user is responsible for
the number of bytes matching the type of data.
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