98/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
9.7 Standardized device profile
The ID 40 system cannot be assigned to any of the CANopen device profiles currently
available. For this reason, the standardized device profile specified in [C17] is not
supported by the ID 40/SLK-CAN.
9.8 SDO communication
The SLK supports two independent SDO channels that can transmit and receive.
The first SDO channel is used to transmit data in process, the second SDO channel
is intended for diagnostic purposes. The two SDO channels are distinguished by
corresponding COB IDs (Communication Object Identifiers).
The SLK does not support client SDO channels, only server SDOs.
The following SDO protocols defined in [C17] are supported:
• SDO download
• SDO upload
• Block SDO download
• Block SDO upload
• Abort SDO transfer for selected protocol
Fig. 29:
SDO Object
(virtual)
Useful data
Application
(CANopen
Master)
Object
Directory
MDT
SDO Timeout Client
Server SDO Parameter
SDO communication
SDO parameters are set in the objects server SDO parameters and SDO timeout
client (see Chapter 9.8.3 “SDO timeout client [object 2020]”).
9.8.1 SDO 1
SDO 1 is the default SDO channel.
The COB IDs are fixed in [C17] in the server SDO parameters object (index 1200)
and cannot be edited.
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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