3 CANopen access procedure
22 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
3.2.1 SDO Sequences for Reading and Writing
To read out or describe objects of these number types, the following listed sequences are used. The
commands for writing a value into the motor controller begin with a different identifier, depending on
the data type. The answer identifier, in contrast, is always the same. Read commands always start with
the same identifier, and the motor controller answers differently, depending on the data type returned.
All numbers are kept in hexadecimal form.
Identifier
8 bits 16 bit 32 bit
Task identifier 2F
h
2B
h
23
h
Response identifier 4F
h
4B
h
43
h
Response identifier in case of
error
– – 80
h
Tab. 3.3 SDO – response/task identifier
EXAMPLE
UINT8/INT8 Reading of Obj. 6061_00
h
Return data: 01
h
Writing of Obj. 1401_02
h
Data: EF
h
Command 40
h
61
h
60
h
00
h
2F
h
01
h
14
h
02
h
EF
h
Response: 4F
h
61
h
60
h
00
h
01
h
60
h
01
h
14
h
02
h
UINT16/INT16 Reading of Obj. 6041_00
h
Return data: 1234
h
Writing of Obj. 6040_00
h
Data: 03E8
h
Command 40
h
41
h
60
h
00
h
2B
h
40
h
60
h
00
h
E8
h
03
h
Response: 4Bh 41
h
60
h
00
h
34
h
12
h
60
h
40
h
60
h
00
h
UINT32/INT32 Reading of Obj. 6093_01
h
Return data: 12345678
h
Writing of Obj. 6093_01
h
Data: 12345678
h
Command 40
h
93
h
60
h
01
h
23
h
93
h
60
h
01
h
78
h
56
h
34
h
12
h
Response: 43
h
93
h
60
h
01
h
78
h
56
h
34
h
12
h
60
h
93
h
60
h
01
h
Caution
The acknowledgement from the motor controller must always be waited for!
Only when the motor controller has acknowledged the request may additional requests
be sent.
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