Siemens MICROMASTER 430 - Page 41

Issue 01/05 Data transfer using CANopen
CANopen Option Module Operating Instructions
6SE6400-5BC00-0BP0
41
You must proceed as follows to write into a MICROMASTER parameter via the
SDO<->parameter channel:
Firstly, the parameter number of the PKW object, specified as a decimal number,
must be converted into a hexadecimal value.
After this, 2000H must be added to the hexadecimal parameter value. This is then
the object number that is used for the SDO access operation (reading or writing).
The numerical sequence after the point in the specification of the PKW object
generally corresponds to the subindex number of the CANopen object. It only has
to be converted from a decimal number into a hexadecimal number. In order to be
able to write into the parameter, in addition, the data type - e.g. unsigned 16 (U16)
- must be taken from the MICROMASTER parameter list.
The following diagram again clearly shows how to work with the SDO parameter
channel:
YES
Reading
objects via SDO
Reading an
object from
the object list
Section 3.1
?
Take a parameter
number from the
MICROMASTER
parameter list
Object index,
sub-index
from the list,
Section 3.1
NO
Convert
parameter number
into a hexadecimal value
Add 2000H
to the converter
hexadecimal value
Take the access type
from the
MICROMASTER
parameter list
Object can
be read acc. to the
MICROMASTER
parameter list
?
NO
YES
Enter the object index
(parameter No. in hex
+ 2000H) and sub-index
in the telegram acc. to
Table 3-5
Access type
from list,
Section 3.1
Object can be
read acc. to list,
Section 3.1
?
YES
Telegram structure
acc. to Table 3-5
Object cannot
be read
Reading
YES
Writing
objects via SDO
Writing an
object from the
object list,
Section 3.1
?
Take a parameter
number from the
MICROMASTER
parameter list
Object index,
sub-index
from the list,
Section 3.1
NO
Convert
parameter number
into a hexadecimal value
Add 2000H
from the converted
hexadecimal value
Take the access type
from the
MICROMASTER
parameter list
Object can
be written into acc.
to the MICROMASTER
parameter list
?
NO
YES
Access type
from list,
Section 3.1
Object can
be written
into acc. to list,
Section 3.1
?
YES
Telegram structure
acc. to Table 3-3
Object cannot
be written into
Telegram structure
acc. to Table 3-3
Write
Fig. 3-10 Reading / writing PKW objects via SDO