Wachendorff WDGA 36A handleiding
Handleiding
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Technical Manual
WDGA with CANopen Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG
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8.3.2 SDO access on objects larger than 4 bytes
As seen in subsection 8.3.1 the payload of a single (expedited) SDO is 4byte. For
larger data there is the possibility of a "normal" segmented SDO transfer or block
transfer for up to 127 segments of 4 byte. For example you want to to read the "high
precision preset position value (Obj. 6008h)" or perform a "high precision preset
(Obj. 6009h)", so you have to use the segmented SDO transfer.
Segmented read access on an object:
Figure 8.3: Segmented SDO read access
In the following example the 8byte "High Precision Position Value" (object 6008h) is
read:
600h+ID
8
40h
01000000b
ccs=2,e=0,
s=0
08h
06h
00h
00h
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.17: SDO read request on object 6008h
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 36A |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
