SICK DL100 Pro CANopen - Page 60

Entries in the object directory are transmitted with these relatively high and thus low
priority IDs. A protocol exists for this SDO transfer. 4bytes are required for coding the
send direction, the index and the subindex of the respective object. The remaining
4bytes of the 8bytes of a CAN data field are available for the data content. For objects
whose data content is larger than 4bytes, there are two other protocols for fragmented
SDO transfer.
The following command bytes determine whether data is read or set and how many
data bytes are involved.
Table 36: Command bytes
Command
byte
Command descrip‐
tion
Data length Note
22h Download Request Max. 4byte Send parameters to CANopen device
23h Download Request 4byte Send parameters to CANopen device
2Bh Download Request 2byte Send parameters to CANopen device
2Fh Download Request 1byte Send parameters to CANopen device
60h Download Response – Confirmation of transfer to CANopen
controller
40h Upload Request – Request parameters from CANopen
device
42h Upload Response Max. 4byte Send parameters to CANopen controller
43h Upload Response 4byte Send parameters to CANopen controller
4Bh Upload Response 2byte Send parameters to CANopen controller
4Fh Upload Response 1byte Send parameters to CANopen controller
80h Abort Message – CANopen device reports error code to
CANopen controller
Table 37: Example of SDO access: Read out of object 1000, subindex 00h
Dir COB-ID DLC Com‐
mand
L-byte
index
H-byte
index
Subin‐
dex
L-byte
byte 0
Byte 1 Byte 2 H-byte
byte 3
Description
D0 D1 D2 D3 D4 D5 D6 D7
CANopen
Controller
606h 8h 40h 00h 10h 00h 00h 00h 00h 00h Request index 1000h,
subindex 00h (Device
Type) of node ID 6
CANopen
Device
586h 8h 43h 00h 10h 00h 96h 01h 08h 00h Response from node
ID 6: 00800196h see
"Device profile CiA 406
absolute linear encoder
(6000h to 9FFFh)",
page 78
NOTE
The hexadecimal representation of index D1 and D2 and data D4 to D7 is done within
the respective byte in reverse order. Example: Index 1000h is represented as 00h |
10h.
10 CANOPEN INTERFACE
60
O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice