Kinco FD5P Series User Manual

Kinco FD5P AC series servo
Chapter 10 Communication
137
Basic structure of SDO：Client→Server/Server→Client
Byte0
Byte1-2
Byte3
Byte4-7
SDO Command specifier
object index
object subindex
Maximum 4 Bit data
The SDO command word contains the following information：
 Download/upload
 Request/response
 Segmented/expedited transfer
 CAN frame data bit length, used for alternately clearing and setting toggle
bits for each subsequent segment. 5 request/response protocols are
implemented in SDO:
 nitiate Domain Download
 Download Domain Segment
 Initiate Domain Upload
 Upload Domain Segment
 Abort Domain Transfer
Among them, Download refers to the write operation of the object dictionary, and
Upload refers to the read operation of the object dictionary; when reading parameters, use
the Initiate Domain Upload protocol; when setting parameters, use the Initiate Domain
Download protocol; the SDO command word of the protocol (SDO CAN The first Bit) syntax
of the message is described in Table 10-8 and Table 10-9, where "-" means irrelevant and
should be 0).
Table 10-8 Initiate Domain Download
Bit
7
6
5
4
3
2
1
0
Client→
0
0
1
-
n
e
s
←Server
0
0
1
-
-
-
-
-
Table 10-9 Initiate Domain Upload
Bit
7
6
5
4
3
2
1
0
Client→
0
0
1
-
-
-
-
-
←Server
0
0
1
-
n
e
s
Description：
n——Indicates the number of bits of meaningless data in the message data [from (8-n) Bit to the 7th
Bit data is meaningless] (n is valid when e=1 and s=1, otherwise n is 0)
e——Normal transmission when e=0, accelerated transmission when e=1；
s——Indicates whether the data length is specified, 0 means the data
length is not specified, 1 means the data length is specified
e=0，s=0——Keep by CiA ；
e=0，s=1——Data Bit is the Bit counter, byte4 is LSB，byte7 is MSB
e=1——Data Bit is the data to be downloaded.
Table 10-10 and 10-11 show the format of sending and receiving SDO message when reading
parameters.

Kinco FD5P Series Specifications

General

Brand	Kinco
Model	FD5P Series
Category	Controller
Language	English