NP5 SPI Online Manual

3414h NanoSPI SDO Raw Request

Function

SDO messages that are sent from the sub-master to the sub-slave can be stored directly in this object. Alternatively, object 3413h can also be used.

Object description

Index 3414h
Object name NanoSPI SDO Raw Request
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: communication
Firmware version FIR-v1426
Change history

Firmware version FIR-v1540: "Object Name" entry changed from "NanoSPI Can Message Raw" to "NanoSPI CAN Message Raw".

Firmware version FIR-v1626: "Savable" entry changed from "no" to "yes, category: communication".

Firmware version FIR-v1650-B527540: "Object Name" entry changed from "NanoSPI CAN Message Raw" to "NanoSPI SDO Raw Request".

Firmware version FIR-v1650-B527540: "Name" entry changed from "Can Raw Upper Bytes" to "SDO Raw Request Upper Bytes".

Firmware version FIR-v1650-B527540: "Name" entry changed from "Can Raw Lower Bytes" to "SDO Raw Request Lower Bytes".

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 02h
Subindex 01h
Name SDO Raw Request Upper Bytes
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 02h
Name SDO Raw Request Lower Bytes
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h

Description

Subindex 1 of 3414 contains the first four bytes of an SDO message and subindex 2 the last four bytes of the SDO message (usually the data of an object).

Example: Setting value 6040h:00 (length 2 bytes) to value "6" gives SDO message 2B 40 60 00 06 00 00 00. The first four bytes are thereby written in subindex 1 in this object and the following bytes in subindex 2, i.e., 3414h:01 = 2B40600h and 3414h:02 = 000000006h

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