Block Wise Single Parameterization (Object 2700hex to 270Ahex)¶
In this mode the objects 2700hex to 270Ahex are used.
Only sub object 0 is used, the parameter index is transferred inside the data content.
Object 2700hex is for single parameters of CI581-CN / CI582-CN itself.
Objects 2701hex to 270Ahex are used for connected expansion modules in ascending order.
This mode only works if fragmented SDO transfer is available.
The transferred data must have the following structure:
The length of the SDO is dependent on the number of transferred single parameters (CNT = the number of parameters to be request) - (up to 5 parameters can be transferred with one SDO).
Note
:strong:Very important:
The CAN uses Big Endian.
This means:
If CNT or PARA_VALUE is 2, you must assign a value: 16#02000000 to them.
The length in bytes is calculated as follows:
Length (bytes) = 4bytes + (number of single parameters * 8bytes).
So the minimum length is 12 bytes and the maximum length is 44 bytes.
If the length or any other data inside the SDO isn´t correct, the CI device will reject the SDO with abort code 0800 0000hex.
For the used parameter indexes see Parameter Indexes of CI581-CN CANOPEN Implementation and Parameter Indexes of CI582-CN CANOPEN Implementation.