Subject to change · V 2.02.20 · EN
Page 45
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An example of an SDO query of the sensor serial number from the object dictionary as sent to Index 0x1018, Sub-index 4, with a 32
bit data length is shown below. The client (controller) sends a read request to the sensor with the ID "NodeID" (see Table 29).
CAN CAN-ID DLC
CAN Message user data
0 1 2 3 4 5 6 7
CANopen COB-ID 11 Bit DLC Cmd
Index Subidx SDO user data
1 0 0 3 2 1 0
Message from
client to sensor
0x600 +
NodelD
0x08 0x40 0x18 0x10 0x04 dont care dont care dont care dont care
The sensor responds with a corresponding SDO message (see Table 30) encoding the data type, index, sub-index and serial number
of the sensor, in this example serial number 200123 (0x30DBB).
CAN CAN-ID DLC
CAN Message user data
0 1 2 3 4 5 6 7
CANopen COB-ID 11 Bit DLC Cmd
Index Subidx SDO user data
1 0 0 3 2 1 0
Message from
client to sensor
0x580 +
NodelD
0x08 0x43 0x18 0x10 0x04 0xBB 0x0D 0x30 0x00
An example of the data upload (heartbeat time) via SDO to the sensor object dictionary at index 0x1017 with a data length of 16
bits is shown below. To do this, the client (control) sends a write request to the sensor using the ID “NodeID” (see Table 31) in order
to set the heartbeat time to 1000 ms (0x03E8).
CAN CAN-ID DLC
CAN Message user data
0 1 2 3 4 5 6 7
CANopen COB-ID 11 Bit DLC Cmd
Index Subidx SDO user data
1 0 0 3 2 1 0
Message from
client to sensor
0x600 +
NodelD
0x08 0x2B 0x17 0x10 0x00 0xE8 0x03 0 0
The sensor responds with a corresponding SDO message (see Table 32) confirming that the access attempt was successful and that
the index and sub-index on which access occurred have been encoded.
CAN CAN-ID DLC
CAN Message user data
0 1 2 3 4 5 6 7
CANopen COB-ID 11 Bit DLC Cmd
Index Subidx SDO user data
1 0 0 3 2 1 0
Message from
client to sensor
0x580 +
NodelD
0x08 0x60 0x17 0x10 0x00 0x00 0x00 0x00 0x00
Table 29: SDO download request from the client to the server
Table 30: SDO download response from the server to the client
Table 31: SDO upload request from the client to the server
Table 32: SDO upload response from the server to the client
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