Danfoss FC 300

FC 300 CANopen
40 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark
The following attributes specify a SDO domain object:
• name: according to CMS naming conventions with <application-specific name> = "SDO_xxx” with
“xxx” as the number of the SDO, starting with 001. xxx = 001 - 128 for Server SDOs, 129 - 256 for
Client SDOs.
• user type: client or server (owner of accessed object dictionary = server)
• class: Multiplexed Domain
• priority: application specific, suggested between [6,7]
• mux data type: STRUCTURE OF UNSIGNED (16) index,
UNSIGNED (8) sub-index with "index" specifying an entry of the device object dictionary and "sub-
index" specifying a component of a device object dictionary entry
Four different routines exist for uploading or downloading SDO data:
 Initiate download
 Download segment
 Initiate upload
 Upload segment
Initiate download
The initiate download starts the SDO communication from the client to the server.
Client request:
0 Byte 1 4 8
7..5 ccs 4 x 3,2 n 1 e 0 s m index, sub index d data
Server response:
0 Byte 1 4 8
7..5 scs 4 ..0 x m index, sub index reserved
Byte 0 Bytes 4-7
Bit 5-7 Bit 4 Bit 2,3 Bit 1 Bit 0
ccs / scs X n e s data
0: - 0 0: all data valid
(size 4 byte)
0 0 reserved
1: init. Download request
ccs
0 1: byte 7 no data
(size 3 byte)
0 1 numbers of bytes for
download
2: - 0 2: byte 6 - 7 no
data
(size 2 byte)
1 0 numbers of unspecified.
bytes for download
3: init. Download response
scs
0 3: byte 5 - 7 no
data
(size 1 byte)
1 1 data, length 4-n