NP5 SPI Online Manual

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 no
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".

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).
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