Stober MDS 5000 - Preselection of the Axis; Expedited Transfer

Data transmission with PDO and SDO
Operation manual
ID 441896.05
WE KEEP THINGS MOVING
31
7
7.2.1 Preselection of the axis
Parameter addressing
Only 2 bytes are available for the index and 1 byte for the subindex in the
addressing of parameters via SDO based on CANopen
®
. However, the
parameters of STÖBER devices cover the address space of 4 bytes. To combined
the address spaces, instead of addressing the axis via the index and subindex,
the selection is made using parameter A11.1, the axis to be edited.
7.2.2 Expedited Transfer
With SDO communication, the simplified Expedited Transfer type of transmission
is used for all parameters having a data type of up to 4 bytes. All four data bytes
fit into one telegram with this type of transmission. Data organization on the bus
uses the Intel-Format: The most significant byte/word has the higher address in
storage and is sent later to the bus (Little-Endian)..
1
st
byte 2
nd
byte 3
rd
byte 4
th
byte 5
th
byte 6
th
byte 7
th
byte 8
th
byte
23
hex
LSB MSB LSB MSB LSB MSB
Command Index Sub-
Index
LSW-Data MSW-Data
1
st
byte 2
nd
byte 3
rd
byte 4
th
byte 5
th
byte 6
th
byte 7
th
byte 8
th
byte
60
hex
LSB MSB LSB MSB LSB MSB
Command Index Sub-
Index
unused
1
st
byte 2
nd
byte 3
rd
byte 4
th
byte 5
th
byte 6
th
byte 7
th
byte 8
th
byte
40
hex
LSB MSB LSB MSB LSB MSB
Command Index Sub-
Index
unused
1
st
byte 2
nd
byte 3
rd
byte 4
th
byte 5
th
byte 6
th
byte 7
th
byte 8
th
byte
42
hex
LSB MSB LSB MSB LSB MSB
Command Index Sub-
Index
LSW-Data MSW-Data
1
st
byte 2
nd
byte 3
rd
byte 4
th
byte 5
th
byte 6
th
byte 7
th
byte 8
th
byte
80
hex
LSB MSB LSB MSB LSB MSB
Command Index Sub-
Index
Additional-Code Error-
Code
Error-
Class