Data Sheet

SDO Construction Details
Advanced Digital Motor Controller User Manual 183
TABLE 17-3. Motor Controllers Object Dictionary
Index Sub Entry Name
Data Type
& Access Command Name
0x2132 01 to mm (1) Read Rotor Angle S16 RO ANG
0x2135 01 to mm (1) Read FOC Angle Correction S16 RO FC
0x2136 01 to mm(1) Read Slip S16 RO SL
0x6401 01 to aa (7) Read Analog Input S16 RO AI
0x6402 01 to aa (7) Read Analog Input Converted S16 RO AIC
0x6403 01 to pp (8) Read Pulse Input S16 RO PI
0x6404 01 to pp (8) Read Pulse Input Converted S16 RO PIC
Notes: Product-specific parameters. See datasheet
(1) mm: Max number of motors
(2) ee: Max number of encoders
(3) vv: Max number of user integer variables
(4) bb: Max number of user boolean variables
(5) tt: Number of internal temperature sensors
(6) dd: Number of digital inputs
(7) aa: Number of analog inputs
(8) pp: Number of pulse inputs
(9) ss: Max number of Magsensors supported
SDO Construction Details
CANOpen SDO frames can easily be created manually and used to send commands
and queries to a Roboteq device. The directives below are a simplified description of the
CANOpen SDO mechanism. For more details please advise the CANOpen standard.
A CANOpen command/query towards a Roboteq device can be analyzed as shown below:
Header DLC
Payload
Byte0
Byte1-2 Byte 3 Bytes4-7bits 4-7 bits2-3 bits0-1
0x600+nd 8 css n xx index subindex data
• nd is the destination node id.
• ccs is the Client Command Specifier, if 2 it is command if 4 it is query.
• n is the Number of bytes in the data part, which do not contain data
• xx not necessary for basic operation. For more details advise CANOpen standard.
• index is the object dictionary index of the data to be accessed
• subindex is the subindex of the object dictionary variable
• data contains the data to be uploaded.