4 Protocol description
Example
// SDO Read Request: NodeId=1; Index=0x1000; Subindex=0:
// Data Type=UInt32
1 r 0x1000 0 u32
// SDO Read Response: Value = 393618 = 0x00060192
393618
4.2.2 Command "w" (SDO Write Request)
Syntax:
[[sequence] [net] node] w <index> <subindex> <datatype> <value>
Example
// SDO Write Request: NodeId=1; Index=0x1016; Subindex=0:
// Data Type=UInt32, Value = 100
1 w 0x60FE 1 u32 100
// Response: “OK”
OK
4.2.3 Command "wl" (Initiate download SDO command for large data)
Syntax:
"[sequence] [net] [node] wl <multiplexer> <command-specifier> <datatype>
<overall_size> <value>"
This command is used for writing large quantities of data and is directly linked to the "wlseg" command (for
further details, see CiA 309:Access from other networks - Part 3: ASCII mapping).
4.2.4 Command "rl" (Initiate upload SDO command for large data)
Syntax:
"[sequence] [net] [node] rl <multiplexer>"
This command is used for reading large quantities of data and is directly linked to the "NEXT" command (for
further details, see CiA 309:Access from other networks - Part 3: ASCII mapping).
4.2.5 Command "wlb" (Initiate download SDO command for large data)
Syntax:
"[sequence] [net] [node] wlb <multiplexer> <command-specifier> <datatype>
<overall_size> <value>"
This command functions in the same way as "wl", but with SDO block transfer.
4.2.6 Command "rlb" (Initiate upload SDO command for large data)
Syntax:
"[sequence] [net] [node] rlb <multiplexer>"
This command functions in the same way as "rl", but with SDO block transfer.
4.2.7 Command for SDO abort
Syntax:
[sequence] [net] sdo_abort [force]
Aborts the SDO tranfer with the commands "wl(b)" and "rl(b)" with the SDO abort code 0x05000000. With
[force]
, an SDO abort request is sent, even if there is no ongoing SDO transfer.
Version: 1.0.0
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