11.3 SDO Function
The SDO (Service Data Objects) messages are used for reading and writing the ob-
jects located in the object dictionary. Objects with up to four bytes of data are tran
ferred with an expedited SDO transfer that uses one request and one response me
sage. Access to objects with more than four bytes of data is accomplished by a se
g-
mented domain transfer.
In chapter 12.3 “Manufacturer objects (0x2nnn)” the necessary messages for read-
ing/writing objects with expedited transfer are described in detail. Access to comm
nication, manufacturer and device profile specific objects with up to four
is accomplished in the same way. The only difference is in the index and sub-
The inverter supports one server SDO. This server SDO is accessed by the client SDO
on the PLC side. An SDO message always has a COB-ID followed by 8 data bytes.
SDO-message:
specifier
index
Default Identifiers (COB-ID):
TxSDO 0x600 (=1536) + Node-ID
RxSDO 0x580 (=1408) + Node-ID
Depending on the transfer direction and the amount of data bytes, different command
specifiers are used.
The error codes of failed SDO accesses are listed in chapter 11.3.3.
04/13 CM-CAN ACU 31
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