4 — PROGRAMMABLE PARAMETERS
Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
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pg. 34
CAN SDO and PDO message transmission nomenclature:
With regard to SDO messages, the terms “Client”, “Server”, ”Request”, and “Response” are used. For SDOs,
the Client /Server are:
– Used in SDO transfers, including data uploads and downloads.
– e Client device (controller) initiates the communications, whether it is a read, write, upload
or download.
– e Sever must respond to the Client request with data and conrm or issue an abort.
– Uploads are data from the device (controller).
– Downloads are data sent to the device (controller).
– SDO_RX (Receive), or SDO_REQ.
– SDO_TX (Transmit), or SDO_RESP.
PDOs messages are always from the perspective of the ancillary device (controller).
– Transmit PDOs (TPDO) are messages that are sent by the ancillary device (controller).
– Receive PDOs (RPDO) are messages that are received by the ancillary device (controller).
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