Baumuller b maXX 1000 - Page 182

Basic of CAN
Parameter manual b maXX
®
1000
Document no. 5.07004.03 Baumüller Nürnberg GmbH
182
of 208
B.3
The value ‘60610008
hex
’ to be written to the object 1800
hex
, subindex 02
hex
, of the b maXX
®
1000 CANopen
slave with the address 4, the data width of this object is 32 bits
Request.
Response
n Reading object
A SCO client (master) transmits a read request to the b maXX
®
1000 CANopen slave interface. This slave
carries out the request and sends the required data in the response message.
Initiate SDO upload:
Figure 71: Initiate SDO upload expedited
The command specifier CS for the request is always 40
hex
. The command specifier CS for the response
will depend on the length of the user data. D0 is the LSB and D3 the MSB.
Example:
CS Multiplexor D0 D1 D2 D3
COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
604
hex
08
hex
23
hex
00
hex
18
hex
02
hex
08
hex
00
hex
61
hex
60
hex
Basic address 600
hex
+ slave address 4
hex
Object 18 00
hex
Subindex 02
hex
Value 60 61 00 08
hex
CS Multiplexor D0 D1 D2 D3
COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
584
hex
08
hex
60
hex
00
hex
18
hex
02
hex
00
hex
00
hex
00
hex
00
hex
Data length in D0 - D3 Command specifier CS
1 byte 4F
hex
2 byte 4B
hex
4 byte 43
hex