Flintec EM100-C User Manual

EM100-F User Manual
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Page 90 of 93
6.4.1. SDO Write
Master node write filter located at Index 1017, Sub Index 4.
Master Transmits
Transmit master  EM100
COB-ID 600H+Node ID
Request
Index
Lo
Index
Hi
Sub-
Index
Data
1
Data
2
Data
3
Data
4
601
23
00
21
04
03
00
00
00
EM100 Responds ACK
Transmit EM100 Master
COB-ID 580H+Node ID
Response
Index
Lo
Index
Hi
Sub-
Index
Data
1
Data
2
Data
3
Data
4
581
60
00
21
04
00
00
00
00
EM100 Responds NACK (example shows a response to an out of range sub-index).
Transmit EM100  Master
COB-ID 580H+Node ID
Response
Index
Lo
Index
Hi
Sub-
Index
Data
1
Data
2
Data
3
Data
4
581
80
00
21
FF
00
00
09
06
Returned data shows the SDO Abort Code 06090011 – Sub-Index FF does not exist.
6.4.2. NMT Master Message
The NMT master message is used by the master node to switch a node OR all nodes into a
specified NMT state. There is no acknowledge response – the node will simply go to state (if
possible).
COB- ID
Requested Action
Transmit master  EM100
Node ID
Byte 1
Byte 2
000
01Hex. = Start.
02Hex. = Stop.
80Hex. = Pre-operational.
81Hex. = Reset Node.
82Hex. = Reset Communication.
01 – 127decimal.
OR
00 (Broadcast).

Flintec EM100-C Specifications

General

Brand	Flintec
Model	EM100-C
Category	Control Unit
Language	English