User Manual

Parameter data transfer
Reading and writing parameters
Writing parameters (expedited download)
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EDSMF2192IB EN 3.1
9.2.2 Writing parameters (expedited download)
1. The master transmits "Initiate Domain Download Request".
2. The slave acknowledges the request with a positive response ("Initiate Domain
Download Response").
In the event of an error the slave responds with "Abort Domain Transfer".
 Note!
In the case of jobs for the controller, please make sure that you convert the
code into an index ( 43).
SDO Download Expedited Request
A "SDO Download Expedited Request" takes place if the data length of the parameter data
to be written amounts to up to 4 bytes.
Detailed breakdown of the data for an "SDO Download Expedited Request":
SDO frame
area
Data field Data type / length Value / description
Mailbox Header
Length
WORD 2 bytes 0x0A: Length of the mailbox service data
Address WORD 2 bytes Station address of the source if an EtherCAT master is the instructing
party.
Station address of the target if an EtherCAT slave is the instructing
party.
Channel
WORD
6 bits (0 ... 5) 0x00: Reserved
Priority 2 bits (6, 7) 0x00: Lowest priority
...
0x03: Highest priority
Type 4 bits (8 ... 11) 0x03: CANopen over EtherCAT (CoE)
Reserved 4 bits (12 ... 15) 0x00
CANopen Header
Number
WORD
9 bits (0 ... 8) 0x00
Reserved 3 bits (9 ... 11) 0x00
Service 4 bits (12 ... 15) 0x02: SDO Request
SDO
Size indicator
BYTE
1 bit (0) 0x01: Size of the data in "data set size"
Transfer type 1 bit (1) 0x01: Expedited transfer
Data set size 2 bits (2, 3) 0x00: 4 bytes data
0x01: 3 bytes data
0x02: 2 bytes data
0x03: 1 byte data
Complete access 1 bit (4) 0x00: The entry addressed with index and subindex is written.
0x01: The complete object is written.
Command specifier 3 bits (5 ... 7) 0x01: Download Request
Index WORD 2 bytes Index of the object
Subindex BYTE 1 byte Subindex of the object
0x00 or 0x01 if "complete access" = 0x01.
Data DWORD 4 bytes Data of the object