CAN-CBX-AI420 - esd electronics, Inc.

An SDO is structured as follows:
Identifier Command
code
Example:
600 h+
Node-ID
Index
(low) (high)
CANopen-Software
Sub-index LSB Data field MSB
23 h 00 14 h 01 7F h 04 h 00 00
(write)
Description of the SDOs:
(Index=1400 h)
(Receive-PDO-Comm-Para)
(COB-def.) COB = 047F h
Identifier ....... The parameters are transmitted on ID ‘600 h + NodeID’ (request).
The receiver acknowledges the parameters on ID ‘580 h + NodeID’ (response).
Command code . . The command code transmitted consists among other things of the command
specifier and the length. Frequently required combinations are, for instance:
40 h = 64 dec : Read Request, i.e. a parameter is to be read
23 h = 35 dec : Write Request with 32-bit data, i.e. a parameter is to be set
The CAN-CBX-AI420 module responds to every received telegram with a
response telegram. This can contain the following command codes:
43 h = 67 dec : Read Response with 32 bit data, this telegram contains the
parameter requested
60 h = 96 dec : Write Response, i.e. a parameter has been set successfully
80 h = 128 dec : Error Response, i.e. the CAN module reports a communication error
CAN-CBX-AI420 Manual Rev. 1.3 33