Description of CANopen-Interface
HYDAC ELECTRONIC GMBH
07.10.2010
Mat. No. 669824
Page 18 of 63
4.5.2 Read SDO
Initiate Domain Upload
Request Protocol format:
COB-Identifier = 600h + Node-ID
Read SDO´s
Byte
0 1 2 3 4 5 6 7
Contents Code Index
Sub-
Index
Data 0 Data 1 Data 2 Data 3
40h
Low
High
Byte
0 0 0 0
The Read SDO telegram has to be send to the slave.
The slave answers with the following telegram:
Response Protocol format:
COB-Identifier = 580h + Node-ID
Read SDO´s
Byte
0 1 2 3 4 5 6 7
Contents Code Index
Sub-
Index
Data 0 Data 1 Data 2 Data 3
4xh Low High Byte Data Data Data Data
Format Byte 0:
MSB LSB
7
6
5
4
3
2
1
0
0
1
0
0
n
1
1
n = number of data bytes (bytes 4-7) that does not contain data
If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH".
If byte 0 = 80h the transfer has been aborted.
