Description of CANopen-Interface
HYDAC ELECTRONIC GMBH
07.10.2010
Mat. No. 669824
Page 19 of 63
4.5.3 Write SDO
Initiate Domain Download
Request Protocol format:
COB-Identifier = 600h + Node-ID
Write SDO´s
Byte
0 1 2 3 4 5 6 7
Contents Code Index
Sub-
Index
Data 0 Data 1 Data 2 Data 3
2xh
Low
High
Byte
0 0 0 0
Format Byte 0:
MSB
LSB
7
6
5
4
3
2
1
0
0
0
1
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 "2FH".
The Write 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
60h
Low
High
Byte
0 0 0 0
If byte 0 = 80h the transfer has been aborted.
