3412h NanoSPI SDO Control Function An SDO message prepared in 3413h or 3414h can be sent from the sub-master to the sub-slave via the controlword. See SPI sub-master. Object description Index 3412h Object name NanoSPI SDO Control Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: communication Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Object Name" entry changed from "NanoSPI Can Master Controlword" to "NanoSPI CAN Message Controlword". 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 Controlword" to "NanoSPI SDO Control". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO". Description START Value = "1": Starts the sending of the message RW (Read or write) This bit is ignored if bit 2 (MSG) contains the value 1. Value = 0: The SDO message initiates a read operation from the object dictionary of the sub-slave Value = 1: The SDO message writes the passed value in the object dictionary of the sub-slave MSG (Message type) Value = 0: The data from object 3413h are sent Value = 1: The data from object 3414h are sent ANS (Answer is ready) Value = 1: The response to the sent message has arrived (can be found in 3415h).
3412h NanoSPI SDO Control Function An SDO message prepared in 3413h or 3414h can be sent from the sub-master to the sub-slave via the controlword. See SPI sub-master. Object description Index 3412h Object name NanoSPI SDO Control Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: communication Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Object Name" entry changed from "NanoSPI Can Master Controlword" to "NanoSPI CAN Message Controlword". 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 Controlword" to "NanoSPI SDO Control". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO". Description START Value = "1": Starts the sending of the message RW (Read or write) This bit is ignored if bit 2 (MSG) contains the value 1. Value = 0: The SDO message initiates a read operation from the object dictionary of the sub-slave Value = 1: The SDO message writes the passed value in the object dictionary of the sub-slave MSG (Message type) Value = 0: The data from object 3413h are sent Value = 1: The data from object 3414h are sent ANS (Answer is ready) Value = 1: The response to the sent message has arrived (can be found in 3415h).
Function An SDO message prepared in 3413h or 3414h can be sent from the sub-master to the sub-slave via the controlword. See SPI sub-master.
Object description Index 3412h Object name NanoSPI SDO Control Object Code VARIABLE Data type UNSIGNED8 Savable yes, category: communication Access read / write PDO mapping RX-PDO Allowed values Preset value 00h Firmware version FIR-v1426 Change history Firmware version FIR-v1540: "Object Name" entry changed from "NanoSPI Can Master Controlword" to "NanoSPI CAN Message Controlword". 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 Controlword" to "NanoSPI SDO Control". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO".
Description START Value = "1": Starts the sending of the message RW (Read or write) This bit is ignored if bit 2 (MSG) contains the value 1. Value = 0: The SDO message initiates a read operation from the object dictionary of the sub-slave Value = 1: The SDO message writes the passed value in the object dictionary of the sub-slave MSG (Message type) Value = 0: The data from object 3413h are sent Value = 1: The data from object 3414h are sent ANS (Answer is ready) Value = 1: The response to the sent message has arrived (can be found in 3415h).
