Bei-sensors THK5 Manual de usuario descargar pdf (Pagina 10)

POSI+ CANOPEN USER MANUAL

Page 10 Version 1.02

BEI IDEACOD SAS

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Web : www.bei-ideacod.com

Index / Sub-index

Data is transmitted solely using objects referenced by index. The objects are simple or composed

type. In this case, the index associated to the composed object will be subdivided into several

sub-index.The number of sub-index is specified into subindex 0, it can be from 1 to 254. Each

object is described into a object dictionary.

The organization of a standard object dictionary is shown in the following table:

Index (hex) Object

0000 Not used

0001-001F Static data types

0020-003F Complex data types

0040-005F Manufacturer specific data types

0060-0FFF Reserved

1000-1FFF Communication area (see Communication profile objects 1000h to 1FFFh (DS301)

2000-5FFF Manufacturer specific area (see Manufacturer-specific Zone Objects 2000h to 5FFFh)

6000-9FFF Device profile specific area (see Hardware Profile objects 6000h to 0FFFh (DS406)

A000-FFFF Reserved

SDO examples

Request of a value by the master from the slave

A frequent request will be a request for position Object 6004h

COB-ID Command Index Sub Index Service Data (Parameters)

600h+node ID 40h 04h 60h 00h X X X X

Response by the slave to the request for a value

The position is 4 bytes long, the precise values can be found under object 6004h.

COB-ID Command Index Sub Index Service Data (Parameters)

580h+node ID 43h 04h 60h 00h Pos0 Pos1 Pos2 Pos3

Writing of a value by the master into the slave

Position setting can be performed with preset. Object 6003h

COB-ID Command Index Sub Index Service Data (Parameters)

600h+node ID 22h 03h 60h 00h Pre0 Pre1 Pre2 Pre3

Slave’s response to the writing of a value

COB-ID Command Index Sub Index Service Data (Parameters)

580h+node ID 60h 03h 60h 00h 0 0 0 0

1 2 ... 5 6 7 8 9 10 11 12 13 14 15 ... 33 34

POSI+ CANOPEN USER MANUAL 1

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