Kollmorgen S300

To write data, the control byte must be written in the manner shown below:
Client
Initiate Domain Download
Server
Byte 1
2345678
request
76543210
indication
Þ
ccs=1 X n e s m d
Þ
ÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞ
n,e and s are defined like in the reading case, m: index + sub-index, d: data field with 4 bytes
The data length of an object can be taken from the object dictionary in the appendix.
The control byte should be:
0x23 for a 4-byte access
0x27 for a 3-byte access
0x2B for a 2-byte access
0x2F for a 1-byte access
ÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜ
Ü
Byte 1
2345678
Ü
confirm
76543210
response
scs=3 X m reserved
2. Index (Bytes 2 and 3):
The Index is the main entry in the Object Dictionary, and divides the parameters into
groups. (Example: Index 1018
h
is the Identity Object).
As for all CAN data, the Index is stored with the bytes in reverse order.
E.g. Index 6040
h
means Byte2=40
h
,Byte3=60
h
)
3. Subindex (Byte 4):
The Subindex divides the parameters within a group of parameters.
4. Data field (Bytes 5 ... 8):
These components are used for the exchange of user data. In read-request
telegrams to the S300/S700 they are set to 0. They have no content in a
write confirmation from the S300/S700 if the transfer was successful, but
if the write operation was faulty they contain an error code (Þ 3.4.5.6).
3.4.5.2 Initiate SDO Download Protocol
The Initiate SDO Download protocol is used for write access to objects with up to 4 bytes of user
data (expedited transfer) or to initiate a segment transfer (normal transfer).
Expedited transfer is also used for objects that only have the character of a command (e.g. ASCII:
SAVE) and thus do not require any further user data.
3.4.5.3 Download SDO Segment Protocol
The Download SDO Segment protocol is used for write access to objects with more than 4 bytes of
user data (normal transfer). This service is not supported by S300/S700 at present, since there are
no objects that make use of more than 4 bytes of user data.
3.4.5.4 Initiate SDO Upload Protocol
The SDO Upload protocol is used for read access to objects with up to 4 bytes of user data (expe
-
dited transfer) or to initiate a segment transfer (normal transfer).
3.4.5.5 Upload SDO Segment Protocol
The Upload SDO Segment protocol is used for read access to objects with more than 4 bytes of
user data (normal transfer). This service is not supported by S300/S700 at present, since there are
no objects that make use of more than 4 bytes of user data.
CANopen for S300/S700 21
Kollmorgen 11/2018 CANopen communication profile