Moog ACV with CANopen bus interface
2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018
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2.8.4 Service data object (SDO) protocol (COB-ID: 0x580, 0x600)
Service data objects (SDOs) enable access to all entries of a CANopen object dictionary. The service data ob-
jects are used to configure the settings for the communication and to set or read application parameters. They
are transmitted non real-time with low priority.
Example for a typical write service data object request from client (PLC) to server (valve) - Protocol SDO
download initiate:
Figure 9: Write service data object request
Example for a typical read service data object request from client (PLC) to server (valve) - Protocol
SDO upload initiate:
Figure 10: Read service data object request
If an SDO request cannot be processed, e.g., the value is too big or the client has not the access rights to
write a parameter, an SDO abort message is sent back from the server to the client.
