User Manual

POSI+ CANOPEN USER MANUAL
Version 1.02 Page 9
BEI IDEACOD SAS
Espace Européen de l’Ent reprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
Tél : [phone]
Fax : [phone]
Mail : [e-mail]
Web : www.bei-ideacod.com
2.2. Service data communication
The service data objects correspond to the stand ards of the Ci A . It is possible to access an o bject
via index and subindex. The data can be requested or where a pplicable wri tten into the object.
COB-ID Command Index Sub Index Service Data (Parameters)
11 bit Byte 0
Byte 1
(LSB)
Byte 2
(MSB)
Byte 3
Byte 4
(LSB)
Byte 5 Byte 6
Byte 7
(MSB)
COB-ID
An SDO-COB ID is composed as follows:
Master -> Encoder : 600h + Node ID
Encoder -> Master : 580h + Node ID
Request for parameter
Command Function Description
40h Master -> Encoder Request for parameter
43h Encoder -> Master Response 4 bytes (unsigned 32)
4Bh Encoder -> Master Response 2 bytes (unsigned 16)
4Fh Encoder -> Master Response 1 byte (unsigned 8)
80h Encoder -> Master Error
Parameter to the encoder
Command Function Description
23h Master -> Encoder Write 4 bytes (unsigned 32)
2Bh Master -> Encoder Write 2 bytes (unsigned 16)
2Fh Master -> Encoder Write 1 byte (unsigned 8)
60h Encoder -> Master Parameter received
80h Encoder -> Master Error