Vacon NX OPTC6 User Manual
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Contents
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appendices vacon • 4524-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com11appendix b – sdo messagesRead Dictionary Object: SDO1 RxMaster to Slave (1) Header DataID RTR Len 1 2 3 4 5 6 7 80x601 0 4 Command Object Index Sub- Index D0 D1 D2 D3Command = 0x40Command aaabbbbb (= 0100 0000)aaa = 010, Initiate upload requestResponse: SDO1 TxSlave (1) to MasterHeader DataID RTR Len 1 2 3 4 5 6 7 80x581 0 8ReplyObject Index Sub- Index D0 D1 D2 D3Reply = e.g. 0x43Reply aaabcces (= 0100 0011)aaa = 010 Initiate upload responseb = 0 not usedcc = 00 number of empty bytes ( that case answer consist of 4 bytes)e = 1 expedited transfers = 1 data set size is indicatedData D0…D4Write Dictionary Object: SDO1 RxMaster to Slave (1)Header DataID RTR Len 1 2 3 4 5 6 7 80x601 0 8CommandObject Index Sub- Index D0 D1 D2 D3Command = e.g. 0x2BCommand aaabcces (= 0010 1011)aaa = 010 Initiate download requestb = 0 not usedcc = 00 number of empty bytes ( that case answer consist of 4 bytes)e = 1 expedited transfers = 1 data set size is indicatedData D0…D4Response: SDO1 TxSlave (1) to MasterHeader DataID RTR Len 1 2 3 4 5 6 7 80x581 0 4ReplyObject Index Sub- Index D0 D1 D2 D3Reply = 0x60Reply aaabbbbb (= 0110 0000)aaa = 010 Initiate download responsebbbbb = 0 0000 not used |
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