Axel CANDPSX - Page 17

CANDPSX user manual rev 2 Page 17 of 42
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To enable the SDO service, set the parameter 20A0h:
Property
Value
Parameter
20A0h
Logic View menu
All parameters/System/CANopen Master/SDO services
Data type
8 bit unsigned int
Measurement unit
--
Value
0 = service disabled
1 = service enabled
Default value
0
Access
Read/Write
To specify the maximum time SDO requests must be fulfilled within, set the parameter 20A1h:
Property
Value
Parameter
20A1h
Logic View menu
All parameters/System/CANopen Master/SDO services
Data type
16 bit unsigned int
Measurement unit
ms
Default value
500
Access
Read/Write
Format and elements of the request control structure mapped in the Profibus dual port (parameter
20A3h):
Elements of the SDO control structure
cmd
SDO request type:
0 = reset request
1 = read request
2 = write request
node
ID of the node to which the request is sent
Ind low
lower part of the index of the exchanged object
Ind high
higher part of the index of the exchanged object
Sub ind
subindex of the exchanged object
len
number of valid byte in SDO buffer value
Note: if the memory swap function is active, the elements of the control structure will be swapped.
The field “len” will be in “byte 0” and “cmd” will be in “byte 5”.