Danaher Motion 07/06 Overview
M-S2-021-11 Initial Release 11
If an error occurs, scs is set to 4, the response byte is 0x80 and the error information is in the four
byte data field. The decoding of the error can be found section
X
2.4.4
X
, Emergency Messages.
To write data, the control byte must be written in the manner shown below:
Client Initiate Domain Download Server
Byte 1
request 7 6 5 4 3 2 1 0
2 3 4 5 6 7 8
indication
ccs=1 X n e s m d
n,e and s are defined like in the reading case
m: index + sub-index
d: data field with 4 bytes
The data length of an object can be taken from the object dictionary in the appendix. The control byte
should be:
0x23 for a 4-byte access
0x27 for a 3-byte access
0x2B for a 2-byte access
0x2F for a 1-byte access
Byte 1
confirm 7 6 5 4 3 2 1 0
2 3 4 5 6 7 8
response
scs=3 X m reserved
2. Index (Bytes 2 and 3):
The Index is the main entry in the Object Dictionary, and divides the parameters into groups.
(Example: Index 1018h is the Identity Object).
As for all CAN data, the Index is stored with the bytes in reverse order.
E.g., Index 6040h means Byte 2 = 40h, Byte 3 = 60h)
3. Subindex (Byte 4):
The Subindex divides the parameters within a group of parameters.
4. Data field (Bytes 5 ... 8):
These components are used for the exchange of user data. In read-request telegrams to the S200, they
are set to 0. They have no content in a write confirmation from the S200 if the transfer was
successful, but if the write operation was faulty, they contain an error code (see Abort SDO Protocol).
Initiate SDO Download Protocol
The Initiate SDO Download protocol is used for write access to objects with up to 4 bytes of user data
(expedited transfer) or to initiate a segment transfer (normal transfer). Expedited transfer is also used for
objects that only have the character of a command (e.g. ASCII: SAVE) and do not require further user
data.
Download SDO Segment Protocol
The Download SDO Segment protocol is used for write access to objects with more than 4 bytes of user
data (normal transfer). This service is not supported by the S200 at present, since there are no objects that
make use of more than 4 bytes of user data.
Initiate SDO Upload Protocol
The SDO Upload protocol is used for read access to objects with up to 4 bytes of user data (expedited
transfer) or to initiate a segment transfer (normal transfer).
