Device Description HG G-84300ZC | English, Revision 08 | Date: 28.05.2020
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Chapter 7 – CANopen® Interface
7.3 Description of the Service Data Objects (SDOs)
For accessing the object directory, a SDO is used. It is transferred with a confirma
-
tion, that means that each reception is confirmed with a message. The identifiers for
read and write access are:
Reading access: 0x600 + Node - Adresse,
Writing access:0x580 + Node - Adresse.
The SDO telegrams are described in the CiA® norm DS-301. The error codes caused
by a erroneous communication are listed in the following table:
7.4 Object Directory
In the CANopen® directory all relevant objects for the device are entered. Each entry
is marked by a 16 bit index. Sub components are marked by a 8 bit subindex. RO
marks read-only entries.
Communication parameters are marked with C, manufacture parameters with M.
The object directory is divided in the following sections:
7.4.1 Communication Specific Entries
Table 16
CANopen®: SDO error codes
Name
Number
Meaning
SDO_ABORT_UNSUPPORTED 0x06010000 Non-supported access to an
object
SDO_ABORT_READONLY
0x06010001 Writing access to a Read only
object
SDO_ABORT_NOT_EXISTS
0x06020000 Object is not implemented
SDO_ABORT_TRANSFER
0x08000020 At saving or loading of the param
-
eters the signature "save" resp.
„load“ has not been used. At cali
-
bration the signature „cali“ has
not been used.
SDO_ABORT_PARA_VALUE
0x06090030 Value range of parameters
exceeded
SDO_ABORT_PARA_TO_HIGH 0x06090031 Value of parameter too high
Table 17
CANopen®: Overview of the object dir., communication specific entries in the range
0x1000 to 0x1FFF (part 1 of 3)
Communication specific entries in the range 0x1000 to 0x1FFF
Index
Sub index Access Content
EEProm
0x1000 0
RO
Device Type
0x1001 0
RO
Error Register
0x1005 0
RO
COB ID Sync Message
