nws

Numero di workstation

objCode

Oggetto

subIndex

subIndex.

Se EtherCAT (SoE):

nbyte

Lunghezza dei dati da trasmettere. Può assumere i seguenti valori: (opzionale)

• 0 = No object

• 1 = Unsigned 8 bit

• 2 = Unsigned 16 bit

• 3 = Unsigned 24 bit

• 4 = Unsigned 32 bit

• 5 = Real 32 bi

•-1 = Signed 8 bit

•-2 = Signed 16 bit

•-3 = Signed 24 bit

•-4 = Signed 32 bit

data

Valore da trasmettere. (opzionale)

-F

Da utilizzare per la lettura di dati floating point. (opzionale)

Note

Nel caso in cui venga dato un comando illegale si avrà una risposta del tipo:

ERROR on SDO : 0x<code>

dove <code> potrà assumere i seguenti lavori:

0503 0000 = Toggle bit not alternated

0504 0000 = SDO protocol timed out

0504 0001 = Client / Server command specifier not valid or unknown

0504 0002 = Invalid block size (block mode only)

0504 0003 = Invalid sequence number (block mode only)

0504 0004 = CRC error (block mode only)

0504 0005 = Out of memory

0601 0000 = Unsupported access to an object

0601 0001 = Attempt to read a write only object

0601 0002 = Attempt to write a read only object

0602 0000 = Object does not exist in the object dictionary

0604 0041 = Object cannot be mapped to the PDO

0604 0042 = The number and length of the objects to be mapped would exceed PDO length

0604 0043 = General parameter incompatibility reason

0604 0047 = General internal incompatibility in the device

0606 0000 = Access failed due to an hardware error

0607 0010 = Data type does not match, length of service parameter does not match

0607 0012 = Data type does not match, length of service parameter too high

0607 0013 = Data type does not match, length of service parameter too low

0609 0011 = Sub-index does not exist

0609 0030 = Value range of parameter exceed (only for write access)

0609 0031 = Value of parameter written too high

0609 0032 = Value of parameter written too low

0609 0036 = Maximum value is less than minimum value

0800 0000 = General error

0800 0020 = Data cannot be transferred or stored to the application

0800 0021 = Data cannot be transferred or stored to the application because of local control

0800 0022 = Data cannot be transferred or stored to the application because of the present device state

0800 0023 = Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error)