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3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
9.8.2 SDO 2
This SDO channel is reserved for online diagnostics with corresponding diagnostic
tools. It remains inactive by default and only runs once configured (see Chapter
11.3.4 “Configuring the second SDO channel”). It functions in the same manner as
SDO 1.
Both the CANopen master and the diagnostic tools can edit the COB IDs of SOD 2
using corresponding object access if necessary.
9.8.3 SDO timeout client (object 2020)
This object defines the maximum time the SLK has to wait for a follow-up telegram
from the master (client). If this time is exceeded, the SLK terminates communication
with abort transfer (see [C17] for abort code).
By default, the SLK waits one second. IF the bus master needs more time to process
more data from the SDO upload, this parameter can be adjusted. The time counts
down until the SLK receives packet confirmation.
Table 33: Object description
INDEX 2020
Name SDO timeout client
Object code ARRAY
Data type Unsigned32
Category Optional
Table 34: Description of entries
Subindex 00
Description Number of implemented SDO channels
Entry category Mandatory
Access Read only
PDO mapping No
Value range 2
Default value 2
Subindex 01
Description Timeout for SDO channel 1 (client side)
Entry category Mandatory
Access Read write
PDO mapping No
Value range 0 = disable timeout, > 0 = timeout value in ms
Default value 1,000 ms
Subindex 02
Description Timeout for SDO channel 2 (client side)
Entry category Mandatory
Access Read write
PDO mapping No
Value range 0 = disable timeout, > 0 = timeout value in ms
Default value 1,000 ms
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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