7
Data transmission with PDO and SDO
ID 441896.05
WE KEEP THINGS MOVING
Operation manual
32
The whole service consists of the following telegrams:
Writing a parameter
1. The Client (CANopen
®
master) sends Initiate Domain Download Request.
2. The Server (inverter) acknowledges the request with a positive Initiate
Domain Download Response.
Read a parameter, an indication
1. The Client (controller) sends Initiate Domain Upload Request.
2. The Server (inverter) acknowledges the request with positive Initiate Domain
Upload Response.
Negative response to an attempt to read or write
In case of error the Server (inverter) responds to an Upload or Download Request
with Abort Domain Transfer.
Example:
Set parameter C01 n-Max to 2500 rpm:
1. Get index and Subindex from EDS file: Index = 2401
hex
, Subindex = 0
2. Convert decimal number 2500 to a hexadecimal number: 09C4
hex
3. Enter the bytes in the right places of the Initiate Domain Download Request
Service:
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
24 01 Hex 00 00 09 C4 Hex
23 01 24 00 C4 09 00 00
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