User guide

The header byte sequence is as follows:

Byte

Number

Description

Value

Type

0 - 1 Variable type for user.

Field has no practical

significance.

0: Integer system parameter

1: Real system parameter

2: Integer user program

variable

3: Real user program variable

Byte

2 - 3 Data width: number of hex

character of single transmitted

data item.

4: Short integer

8: Long integer

Byte

4 - 7 Data length: actual number of

transmitted data items.

Word

Table 13-1: Upload SDO Header Byte

The rest of the byte sequence is the data stream. All bytes are transferred according to

the scheme explained in section 2.9. Sub-index 0 uploads the supported object entries.

Notes:

 If the recorder variables are changed during upload, the process will be aborted.

 This object was removed from the EDS file to enable successful automatic EDS

file testing.

Object 0x2040: Coo

rdinate system group ID

A 7-bit identifier is used for multicasting messages to a set of servo drives. For example, a

network consists of three drives with CAN IDs 1, 2 and 3, and drives 1 and 2 are assigned

a group ID of 4. A CAN master message to slave ID 4 will be received by drives 1 and 2.

Drive 1 will respond with ID 1 and drive 2 will respond with ID 2.

The group ID of a drive may equal its ID. In order to set the group ID, first set object

0x2040, then send the command Reset Communication NMT service, followed by the

Start Remote NMT service. The group ID becomes effective only at the next CAN

network reset (NMT 82h).

 Object description:

Index 2040h

Name ID for synchronized commands

Object code VAR

Data type UNSIGNED8