Festo CiA 402 User manual

Description
Device profile
CiA 402
for motor controller
– CMMS-AS-...-G2
– CMMD-AS-...
– CMMS-ST-...-G2
via fieldbus:
–CANopen
8040109
1404NH
[8034536]
CiA 402 for motor controller
CMMS-AS/CMMD-AS/CMMS-ST

CMMS-AS/CMMD-AS/CMMS-ST
2 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH –
Translation of the original instructions
GDCP-CMMS/D-C-CO-EN
CANopen
®
,CiA
®
, DevicecNet
®
are registered trademarks of the respective trademark owners in cer-
tain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.

CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 3
Table of Contents – CMMS-AS/CMMD-AS/CMMS-ST – CiA 402
1 Fieldbus interface 9.........................................................
2CANopen 10................................................................
2.1 CANopen standards 10.......................................................
2.2 CANopen interface 11........................................................
2.2.1 Connection and display components 11..................................
2.2.2 Bus LED 11.........................................................
2.2.3 Pin allocation CAN [X4] 11.............................................
2.2.4 Cabling instructions 12...............................................
2.3 Configuration of CANopen participants (via DIL switch) 13...........................
2.3.1 Overview of DIL switches [S1.1…12] 14..................................
2.3.2 Configuring the node ID (CAN address) 14................................
2.3.3 Configure data rate 14...............................................
2.3.4 CAN interface activation 15............................................
2.3.5 Terminating resistor activation 15.......................................
2.3.6 Setting of the physical units (factor group) 15.............................
2.4 Configuration CANopen master 16..............................................
3 CANopen access procedure 17.................................................
3.1 Introduction 17.............................................................
3.2 SDO access 18..............................................................
3.2.1 SDO sequences for reading and writing 19................................
3.2.2 SDO Error Messages 21...............................................
3.2.3 Simulation of SDO access 22..........................................
3.3 PDO Message 23............................................................
3.3.1 Description of the Objects 24..........................................
3.3.2 Objects for PDO Parametrisation 28.....................................
3.3.3 Activation of PDOs 32................................................
3.4 SYNC message 32...........................................................
3.5 EMERGENCY Message 33.....................................................
3.5.1 Overview 33........................................................
3.5.2 Structure of the EMERGENCY Message 34................................
3.5.3 Description of the Objects 34..........................................

CMMS-AS/CMMD-AS/CMMS-ST
4 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.6 Network Management (NMT Service) 36..........................................
3.6.1 Boot-up (Boot-up Protocol) 39.........................................
3.6.2 Start Remote Node 40................................................
3.6.3 Stop Remote Node 40................................................
3.6.4 Enter Pre-Operational 40..............................................
3.6.5 Reset Node 41......................................................
3.6.6 Reset Communication 41.............................................
3.6.7 Heartbeat (Error Control Protocol) 41....................................
3.6.8 Nodeguarding (Error Control Protocol) 42................................
3.7 Table of Identifiers 45........................................................
3.8 Internal sequence of CANopen processing 45......................................
4 Setting parameters 46.......................................................
4.1 Loading and saving parameter sets 46...........................................
4.2 Conversion factors (Factor Group) 49............................................
4.3 Output stage parameter 60....................................................
4.4 Current Regulator and Motor Adjustment 62......................................
4.5 Velocity control 66...........................................................
4.6 Position controller (Position Control Function) 68..................................
4.7 Setpoint value limitation 76....................................................
4.8 Digital inputs and outputs 77..................................................
4.9 Limit switches 79............................................................
4.10 Sampling of positions 80......................................................
4.11 Device Information 82........................................................
4.12 Error management 85........................................................
4.13 Compatibility settings 86......................................................
5 Device Control 88............................................................
5.1 Status diagram (State Machine) 88..............................................
5.1.1 Overview 88........................................................
5.1.2 Status diagram of the motor controller (state machine) 89...................
5.1.3 Controlword (Controlword) 94.........................................
5.1.4 Read-out of the motor controller status 97...............................
5.1.5 Status words (statuswords) 99.........................................

CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 5
6 Operating modes 104.........................................................
6.1 Setting the operating mode 104.................................................
6.1.1 Overview 104........................................................
6.1.2 Description of the Objects 104..........................................
6.2 Operating mode homing (homing mode) 106.......................................
6.2.1 Overview 106........................................................
6.2.2 Description of the objects 107..........................................
6.2.3 Homing processes 110................................................
6.2.4 Control of homing 113.................................................
6.3 Positioning mode (Profile Position Mode) 114......................................
6.3.1 Overview 114........................................................
6.3.2 Description of the objects 115..........................................
6.3.3 Functional description 118.............................................
6.4 Synchronous position specification (Interpolated Position Mode) 121...................
6.4.1 Overview 121........................................................
6.4.2 Description of the Objects 122..........................................
6.4.3 Functional description 126.............................................
6.5 Speed adjustment operating mode (Profile Velocity Mode) 129........................
6.5.1 Overview 129........................................................
6.5.2 Description of the objects 131..........................................
6.6 Speed ramps 133.............................................................
6.7 Torque regulation operating mode (Profile Torque Mode) 136..........................
6.7.1 Overview 136........................................................
6.7.2 Description of the objects 137..........................................
A Diagnostic messages 141......................................................
A.1 Explanations on the diagnostic messages 141......................................
A.2 Diagnostic messages with instructions for fault clearance 142.........................
A.3 Error codes via CiA 301/402 155.................................................

CMMS-AS/CMMD-AS/CMMS-ST
6 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English

CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 7
Instructions on this documentation
This documentation describes the device profile CiA 402 (DS 402) and provides information on CiA 301
for the motor controller corresponding to the section “Information on the version” via the fieldbus in-
terface:
– CANopen – interface [X4] integrated in the motor controller.
This provides you with supplementary information about control, diagnostics and parametrisation of
the motor controllers via the fieldbus.
• Always observe the general safety regulations for the motor controller.
The general safety regulations for the motor controller can be found in the specific
description “Mounting and installation”, GDCP-CMM...-...-HW-... Tab. 2.
Target group
This description is intended exclusively for technicians trained in control and automation technology,
who have experience in installation, commissioning, programming and diagnosing of positioning sys-
tems.
Service
Please consult your regional Festo contact if you have any technical problems.
Information on the version
This description refers to the following versions:
Motor controller Version
CMMS-AS-...-G2 Motor controller CMMS-AS-...-G2 from Rev 03
FCT plug-in CMMS-AS from version 2.0.0
CMMD-AS-... Motor controller CMMD-AS-... from Rev 03
FCT plug-in CMMD-AS from version 2.0.0
CMMS-ST-...-G2 Motor controller CMMS-ST-...-G2 from Rev 05
FCT plug-in CMMS-ST from version 2.0.0
Tab. 1 Ve rsio ns
Note
With newer firmware versions, check whether there is a newer version of this descrip-
tion available:www.festo.com

CMMS-AS/CMMD-AS/CMMS-ST
8 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Documentation
Additional information on the motor controllers can be found in the following documentation:
Documentation Device
type
Contents
Mounting and
installation
GDCP-CMMS-AS-G2-HW-... CMMS-AS –Mounting
Itllti
(i
ll ti )
GDCP-CMMD-AS-HW-... CMMD-AS
–
Installation (
p
in allocations)
– Error messages
– Technical data
GDCP-CMMS-ST-G2-HW-... CMMS-ST
Functions and
commissioning
GDCP-CMMS/D-FW-... CMMS-AS
CMMD-AS
CMMS-ST
– Control interfaces
– Operating modes/operational
functions
– Commissioning with FCT
– Error messages
STO safety
function
GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with
GDCP-CMMD-AS-S1-... CMMD-AS
y
gg
the STO safety function (Safe
Torque Off )
GDCP-CMMS-ST-G2-S1-... CMMS-ST
Device
profile FHPP
GDCP-CMMS/D-C-HP-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interfaces:
– CAN bus (CANopen)
–InterfaceCAMC-PB(PROFIBUS)
– Interface CAMC-DN (DeviceNet)
– Control and parameterisation via
the device profile FHPP (Festo
Handling and Positioning Profile)
with PROFIBUS, DeviceNet or
CANopen.
Device profile
CiA 402
GDCP-CMMS/D-C-CO-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interface:
– CAN bus (CANopen, DriveBus)
– Control and parameterisation via
the device profile CiA 402 (DS 402).
Software Help Help for the CMMS-AS
plug-in
CMMS-AS – User interface and functions in the
Festo Configuration Tool for the
Help for the CMMD-AS
plug-in
CMMD-AS
g
plug-in
Help for the CMMS-ST
plug-in
CMMS-ST
Tab. 2 Documentation on the motor controllers
The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support Portal: www.festo.com/sp

1 Fieldbus interface
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 9
1 Fieldbus interface
Control and parameterisation via CiA 402 is supported by the CMMS-AS/CMMD-AS/CMMS-ST via the
fieldbus interface corresponding to Tab. 1.1. The CANopen interface is integrated in the motor control-
ler. The fieldbus is configured with the DIL switches [S1].
Fieldbus Interface Description
CAN bus [X4] – integrated Chapter 2
Tab. 1.1 Fieldbus interface for CiA 402
2
3
1
2
3
1
2
3
1
1Bus/CAN LED
2DIL switch [S1] for fieldbus settings
3CANopen interface [X4]
Fig. 1.1 Motor controller CMMS-AS/CMMD-AS/CMMS-ST

2CANopen
10 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2 CANopen
This part of the documentation describes the connection and configuration of the motor controller in a
CANopen network. It is directed at people who are already familiar with this bus protocol.
2.1 CANopen standards
CANopen is a standard developed by the “CAN in Automation” association. Numerous device manufac-
turers are organised in this network. This standard has largely replaced the current manufacturer-spe-
cific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA 201 …207:
These documents cover the general basic principles and embedding of CANopen into the OSI layered
architecture. The relevant points of this book are presented in this CANopen manual, so procurement of
CiA 201 … 207 is generally not necessary.
CiA 301:
This document describes the fundamental design of the object directory of a CANopen device and ac-
cess to it. The statements of CiA201 … 207 are also made concrete. The elements of the object direct-
ory needed for the CMMS motor controller families and the related access methods are described in
this manual. Procurement of CiA 301 is recommended but not unconditionally necessary.
CiA 402:
This document deals with the concrete implementation of CANopen in drive controllers. Although all
implemented objects are also briefly documented and described in this CANopen manual, the user
should have this documentation available.
Source address:
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: [phone]
Fax: [phone]
www.can-cia.de
The CANopen implementation of the motor controller is based on the following standards:
1CiA Draft Standard 301, Version 4.02, 13. February 2002
2CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002

2CANopen
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 11
2.2 CANopen interface
The CAN interface is integrated in the motor controller and is thus always available. The CAN bus con-
nection is designed as a 9-pin D-sub plug connector in accordance with standards.
2.2.1 Connection and display components
The following components can be found on the front panel:
– Status LED CAN / bus
– 9-pin D-sub plug connector [X4]
– DIL switches for terminating resistor, transmission rate, CAN activation, Node ID (CAN address).
2.2.2 Bus LED
The Bus LED on the motor controller displays the following:
LED Status
off no telegrams are sent
lights up yellow telegrams are sent
Tab. 2.1 Bus LED
2.2.3 Pin allocation CAN [X4]
[X4] Pin no. Designation Value Description
1 – – Unused
6CAN-GND –Load
2CAN-L –Negative CAN signal (Dominant Low)
7CAN-H –Positive CAN signal (Dominant High)
3CAN-GND –Load
8 – – Unused
4 – – Unused
9 – – Unused
5CAN shield –Screening
Tab. 2.2 Pin allocation for CAN interface [X4]
CAN bus cabling
When cabling the motor controller via the CAN bus, you should unconditionally observe
the following information and instructions to obtain a stable, trouble free system.
If cabling is improperly done, malfunctions can occur on the CAN bus during operation.
These can cause the motor controller to shut off with an error for safety reasons.

2CANopen
12 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Termination
A terminating resistor (120 Ω) can, if required, be switched by means of DIL switch [S1.12] on the basic
unit.
2.2.4 Cabling instructions
The CAN bus offers a simple, fail-safe ability to network all the components of a system together. But a
requirement for this is that all of the following instructions on cabling are observed.
120 Ω120 Ω
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
Fig. 2.1 Cabling example
– The individual network nodes are basically connected in series, so that the CAN cable passes from
motor controller to motor controller (Fig. 2.1).
– At both ends of the CAN cable, there must be available a terminating resistor of exactly 120 Ω ± 5 %.
Such a terminating resistor is often already integrated into CAN cards or PLCs, which must be taken
into account correspondingly.
– A screened cable with precisely two twisted conductor pairs must be used for the cabling
Tab. 2.3. One twisted pair is used for connecting CAN-H and CAN-L. The conductors of the other
pair are used together for CAN-GND. The cable screening is connected to the CAN shield connection
at all nodes.
– The use of adapters is not recommended for CAN bus cabling. If this is unavoidable, then metallic
plug housings should be used to connect the cable screening.
– To keep the disturbance coupling as low as possible, motor cables should not be laid parallel to
signal lines. Motor cables must conform to specifications. Motor cables must be correctly shielded
and earthed.
– For additional information on the configuration of trouble free CAN bus cabling, refer to the Control-
ler Area Network protocol specification, version 2.0 from Robert Bosch GmbH, 1991.
Feature Value
Wire pairs – 2
Core cross section [mm
2
]≥0.22
Screening –yes
Loop resistance [Ω/m] <0.2
Surge impedance [Ω] 100 … 120
Tab. 2.3 Technical data, CAN bus cable

2CANopen
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 13
2.3 Configuration of CANopen participants (via DIL switch)
Several steps are required in order to produce an operational CANopen interface. Some of these set-
tings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parametrisation and configuration. As some
parameters are only effective after saving and restarting the motor controller, we recommend that com-
missioning with the FCT should be carried out first without connection to the CANopen bus.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parametrisation of the fieldbus connection take place on both pages. We recommend that para-
meterisation of the slave should be executed first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the node ID, bit rate and activation of the bus communication via DIL switches.
ThestatusoftheDILswitchesisreadonceatPower-ON/restart.
The motor controller only takes over the changes made to the switch settings during on-
going operation at the next Power ON/Controller restart (FCT).
2. Parametrisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
– CANopen control interface (Mode Selection tab)
In addition, the following settings on the fieldbus page:
– Protocol CANopen CiA 402 (Operating parameter tab)
– Physical units (Factor Group tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
Note
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopen master Sections 2.4 and 3.

2CANopen
14 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2.3.1 Overview of DIL switches [S1.1…12]
Fig. 2.2 Overview of DIL switches [S1.1...12]
2.3.2 Configuring the node ID (CAN address)
ThenodeIDcanbeconfiguredviatheDILswitches[S1.1…7].
Fieldbus DIL switch
S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
2
6
=64 2
5
=32 2
4
=16 2
3
=8 2
2
=4 2
1
=2 2
0
=1
CANOpen
Node ID (1…127)
1)
X X X X X X X
Example: Node ID “57” =
(Switch position)
+0
(OFF)
+32
(ON)
+16
(ON)
+8
(ON)
+0
(OFF)
+0
(OFF)
+1
(ON)
1) Address “0” is reserved for the higher-order controller.
Tab. 2.4 Configuring the node ID
Special features of the CMMD-AS
The two separate CAN participants of the CMMD-AS (CAN bus is internally looped) are configured with
the node ID after the DIL switch for axis 1 and after the DIL switch + 1 for axis 2. CAN activation, baud
rate and termination can only be configured together and are thus identical for axis 1 and axis 2.
2.3.3 Configure data rate
The bit/transmission rate can be configured via the DIL switches [S1.9/S1.10].
Fieldbus Bit/transmission rate DIL switch
S1.10 S1.9
CANopen (CAN bus) 125 KBit/s (125 kBaud) Off Off
250 KBit/s (250 kBaud) Off ON
500 KBit/s (500 kBaud) ON Off
1 MBit/s (1000 kBaud) ON ON
Tab. 2.5 Configure data rate

2CANopen
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 15
2.3.4 CAN interface activation
The DIL switch [S1.11] may only be used for activating the CAN interface. The DIL switch
[S1.11] must be set to ON for use of the CAN interface.
Fieldbus DIL switch
S1.11
CANOpen ON
Tab. 2.6 Configure fieldbus interface
2.3.5 Terminating resistor activation
The DIL switch [S1.12] may only be used for activating the “CAN bus” terminating resistor.
Fieldbus Note DIL switch
S1.12
CANOpen ON: Terminating resistor active.
OFF: Terminating resistor not active.
OFF/ON
Tab. 2.7 Configure terminating resistor
2.3.6 Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s
2
) with the motor controller, it must be parameterised via the factor group
Section 4.2.
Parameterisation can be carried out via FCT or the fieldbus.

2CANopen
16 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2.4 Configuration CANopen master
You can use an EDS file to configure the CANopen master.
The EDS file is included on the CD-ROM supplied with the motor controller.
You will find the most current version under www.festo.com/sp
EDS files Description
CMMS-AS_CAN.eds Motor controller CMMS-AS-... with protocol “CiA 402”
CMMD-AS_CAN.eds Motor controller CMMD-AS-... with protocol “CiA 402”
CMMS-ST_CAN.eds Motor controller CMMS-ST-... with protocol “CiA 402”
Tab. 2.8 EDS files for CiA 402 with CANopen

3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 17
3 CANopen access procedure
3.1 Introduction
CANopen makes available a simple and standardised possibility to access the parameters of the motor
controller (e.g. the positioning speed). To achieve this, a unique number (index and subindex) is as-
signed to each parameter (CAN object). The totality of all adjustable parameters is designated an ob-
ject directory.
For access to the CAN objects through the CAN bus, there are fundamentally two methods available: A
confirmed access type, in which the motor controller acknowledges each parameter access (via so-
called SDOs), and an unconfirmed access type, in which no acknowledgement is made (via so-called
PDOs).
Confirmation from
the motor controller
Order from the
controller
Controller CMMS
SDO
Controller CMMS
PDO (transmit PDO)
Controller CMMS
PDO (receive PDO)
Data for the controller
(actual values)
Data from the
controller (setpoint
values)
Fig. 3.1 Access procedure
As a rule, the motor controller is parametrised via SDOs and controlled via PDOs. In addition, other
types of messages (so-called communication objects), which are sent either by the motor controller or
the higher-level controller, are defined for special application cases:

3 CANopen access procedure
18 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Communication objects
SDO ServiceDataObject Used for normal parameterisation of the motor controller.
PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible.
SYNC Synchronisation Message Synchronisation of multiple CAN nodes.
EMCY Emergency Message Transmission of error messages.
NMT Network Management Network service: All CAN nodes can be worked on
simultaneously, for example.
HEART-
BEAT
Error Control Protocol Monitoring of the communications participants through
regular messages.
Tab. 3.1 Communication objects
Every message sent on the CAN bus contains a type of address which is used to determine the bus
participant for which the message is meant and from which bus participant the message is sent. This
number is designated the identifier. The lower the identifier, the higher the priority of the message.
Identifiers are established for the above-named communication objects Section 3.7. The following
sketch shows the basic design of a CANopen message:
601
h
Len D0 D1 D2 D3 D4 D5 D6 D7
Identifier
Data bytes 0 … 7
Number of data bytes (here 8)
3.2 SDO access
The Service Data Objects (SDO) permit access to the object directory of the motor controller. It is there-
fore recommended to build up an application, without prepared PDO communication from the control
interface, at first only with SDOs and only later to convert to the faster but also more complicated Pro-
cess Data Objects (PDOs).
SDO access always starts from the higher-order controller (Host). This either sends the motor control-
ler a write command to modify a parameter in the object directory, or a read command to read out a
parameter. For each command, the host receives an answer that either contains the read-out value or –
inthecaseofawritecommand–servesasanacknowledgement.
For the motor controller to recognise that the command is meant for it, the host must send the com-
mand with a specific identifier. This consists of the base 600
h
+ node ID of the motor controller in-
volved. The motor controller answers correspondingly with the identifier 580
h
+nodeID.
The design of the commands or answers depends on the data type of the object to be read or written,
since either 1, 2 or 4 data bytes must be sent or received. The following data types are supported:

3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 19
Data type Size and algebraic sign Area
UINT8 8 bit value without algebraic sign 0 … 255
INT8 8 bit value with algebraic sign -128 … 127
UINT16 16 bit value without algebraic sign 0 … 65535
INT16 16 bit value with algebraic sign -32768 … 32767
UINT32 32 bit value without algebraic sign 0…(2
32
-1)
INT32 32 bit value with algebraic sign -(2
31
)…(2
32
-1)
Tab. 3.2 Supported data types
3.2.1 SDO sequences for reading and writing
To read out or describe objects of these number types, the following listed sequences are used. The
commands for writing a value into the motor controller begin with a different identifier, depending on
the data type. The answer identifier, in contrast, is always the same. Read commands always start with
the same identifier, and the motor controller answers differently, depending on the data type returned.
All numbers are kept in hexadecimal notation.
Read commands Write commands
Low byte of the main index (hex)
Identifier for 8 bit
High byte of the main index (hex)
Sub-index (hex)
Command
40h IX0 IX1 SU 2Fh IX0 IX1 SU DO
Answer:
4Fh IX0 IX1 SU D0 60h IX0 IX1 SU
UINT16 / INT16
Identifier for 8 bit Identifier for 16 bit
Command
40h IX0 IX1 SU 2Bh IX0 IX1 SU DO D1
Answer:
4Bh IX0 IX1 SU D0 D1 60h IX0 IX1 SU
UINT32 / INT32
Identifier for 16 bit Identifier for 32 bit
Command
40h IX0 IX1 SU 23h IX0 IX1 SU DO D1 D2 D3
Answer:
43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU
Identifier for 32 bit
UINT8 / INT8
Identifier 8bit 16 bit 32 bit
Command identifier 2F
h
2B
h
23
h
Response identifier 4F
h
4B
h
43
h
Error detection – – 80
h
Tab. 3.3 SDO – command/response identifier

3 CANopen access procedure
20 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
EXAMPLE
UINT8/INT8 Reading of Obj. 6061_00
h
Return data: 01
h
Writing of Obj. 1401_02
h
Data: EF
h
Command 40
h
61
h
60
h
00
h
2F
h
01
h
14
h
02
h
EF
h
Answer 4F
h
61
h
60
h
00
h
01
h
60
h
01
h
14
h
02
h
UINT16/INT16 Reading of Obj. 6041_00
h
Return data: 1234
h
Writing of Obj. 6040_00
h
Data: 03E8
h
Command 40
h
41
h
60
h
00
h
2B
h
40
h
60
h
00
h
E8
h
03
h
Answer 4Bh 41
h
60
h
00
h
34
h
12
h
60
h
40
h
60
h
00
h
UINT32/INT32 Reading of Obj. 6093_01
h
Return data: 12345678
h
Writing of Obj. 6093_01
h
Data: 12345678
h
Command 40
h
93
h
60
h
01
h
23
h
93
h
60
h
01
h
78
h
56
h
34
h
12
h
Answer 43
h
93
h
60
h
01
h
78
h
56
h
34
h
12
h
60
h
93
h
60
h
01
h
Note
The acknowledgement from the motor controller must always be waited for!
Only when the motor controller has acknowledged the request may additional requests
be sent.