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". 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". |
Value description
| Subindex | 00h |
| Name | Number Of Entries |
| 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 | RX-PDO |
| Allowed values | |
| Preset value | 00000000h |
| Subindex | 02h |
| Name | SDO Raw Request Lower Bytes |
| Data type | UNSIGNED32 |
| Access | read / write |
| PDO mapping | RX-PDO |
| 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