Flintec EM100-C - Overall CAN Frame

EM100-C User Manual
0084292
Page 77 of 81
6.4. Overall CAN Frame
COB-
ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Specifier
Parameter Location
Data
Specifier
Index
Lo Byte
Index
Hi Byte
Sub-
Index
Data
Byte 0
Data
Byte 1
Data
Byte 2
Data
Byte 3
Examples using node ID 1: All values are Hexadecimal.
SDO READ
Master node requests the Vendor ID located at Index 1018, Sub Index 1.
Master Transmits
Transmit Master  EM100
COB-ID 600H+Node ID
Request
Index
Lo
Index
Hi
Sub-
Index
Data
1
Data
2
Data
3
Data
4
601
40
18
10
1
00
00
00
00
EM100 Responds ACK
Transmit EM100  Master
COB-ID 580H+Node ID
Response
Index
Lo
Index
Hi
Sub-
Index
Data
1
Data
2
Data
3
Data
4
581
43
18
10
1
4A
04
00
00
EM100 Responds NACK (example shows a response to an out of range sub-index)
Transmit EM100  Master
COB-ID 580H+Node ID
Response
Index
Lo
Index
Hi
Sub-
Index
Data
1
Data
2
Data
3
Data
4
581
80
17
10
FF
11
00
09
06
Returned data shows the error 06090011 – Sub-Index FF does not exist.
In the CANopen standard, this is called an ‘SDO Abort Code’.