Lenze L-force CANopen EMF2178IB - I−1200;I−1201: Server SDO Parameters

Implemented CANopen objects
Overview
I−1200/I−1201: Server SDO parameters
13
l
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EDSMF2178IB EN 3.0
13.2.18 I−1200/I−1201: Server SDO parameters
Server SDOs can be parameterised with two objects:
ƒ I−1200 for the parameter data channel 1 (SDO1)
ƒ I−1201 for the parameter data channel 2 (SDO2)
With I−1201 the identifier can be written in sending and receiving direction, I−1200 has only
got reading access. The server SDO parameters are only valid, if bit 31 = "0" in both
transmission directions (subindex 1 and 2).
Index Subindex Name Data type Value range Authorisatio
n
I−1200
0
Server SDO1 parameters U8 0 ... 255 ro
1 Identifier
Client ® server (rx)
U32 0 ... (2
32
− 1) ro
2 Identifier
Server ® client (tx)
U32 0 ... (2
32
− 1) ro
I−1201
0 Server SDO2 parameters U8 0 ... 255 ro
1 Identifier
Client ® server (rx)
U32 0 ... (2
32
− 1) rw
2 Identifier
Server ® client (tx)
U32 0 ... (2
32
− 1) rw
Subindices
Subindex Description
0 Max. supported subindex = 3
1 Specification of the receive identifier
2 Specification of the transmit identifier
Data telegram assignment for subindex 1 and 2
Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 ... 0
0/1 0 0 Bit value: 0 11−bit identifier
Bits Value Description
0 ... 10 X 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 Reserved
31
0 SDO valid
1 SDO invalid