3413h NanoSPI SDO Request
Function
Index, subindex, length and data value can be entered in this object; these values are sent from from the sub-master to the sub-slave (see NanoSPI mailbox). Subindex 1 is automatically written with the correct value when sending the message via 3412h. Alternatively, a message that is already finished and ready can be entered in object 3414h.
Object description
| Index | 3413h |
| Object name | NanoSPI SDO Request |
| Object Code | RECORD |
| Data type | SDO_EXPEDITED_MESSAGE |
| Savable | yes, category: communication |
| Firmware version | FIR-v1426 |
| Change history |
Firmware version FIR-v1540: "Object Name" entry changed from "NanoSPI Can Message Transmit" to "NanoSPI CAN Message Transmit". 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 Transmit" to "NanoSPI SDO Request". Firmware version FIR-v1650-B527540: "Data Type" entry changed from "CAN_OPEN_MESSAGE" to "SDO_EXPEDITED_MESSAGE". Firmware version FIR-v1650-B527540: "Access" table entry for subindex 00 changed from "read/write" to "read only". Firmware version FIR-v1650-B527540: "Name" entry changed from "CAN Header" to "SDO Header". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 00 changed from "no" to "RX-PDO". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 01 changed from "no" to "RX-PDO". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 02 changed from "no" to "RX-PDO". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 03 changed from "no" to "RX-PDO". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 04 changed from "no" to "RX-PDO". Firmware version FIR-v1939-B682906: "PDO mapping" table entry for subindex 05 changed from "no" to "RX-PDO". |
Value description
| Subindex | 00h |
| Name | Number Of Entries |
| Data type | UNSIGNED8 |
| Access | read only |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 05h |
| Subindex | 01h |
| Name | SDO Header |
| Data type | UNSIGNED8 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 00h |
| Subindex | 02h |
| Name | Index |
| Data type | UNSIGNED16 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 0000h |
| Subindex | 03h |
| Name | Subindex |
| Data type | UNSIGNED8 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 00h |
| Subindex | 04h |
| Name | Length |
| Data type | UNSIGNED8 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 00h |
| Subindex | 05h |
| Name | Data |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | RX-PDO |
| Allowed values | |
| Preset value | 00000000h |
Description
If the value is read from the object dictionary of the sub-slave, only the following information is needed (subindices 4 and 5 are disregarded):
- Index in 3413h:2
- Subindex in 3413h:3
To write a value in the object dictionary of the slave, the following information is needed:
- Index in 3413h:2
- Subindex in 3413h:3
- Length of the object in the object dictionary of the sub-slave in bytes in 3413h:4
- Value to be written in 3413h:5