SICK Flexi Classic - Object list SDO; SDO Upload expedited (Read SDO)

Operating Instructions Chapter 5
Flexi Classic Gateways
8011834/YT28/2016-03-15 © SICK AG • Industrial Safety Systems • Germany • All rights reserved
41
Subject to change without notice
CANopen Gateway
5.2.20 SDO Upload expedited (Read SDO)
The client requests the contents of an SDO with a Request message to server N. The index
and sub-index for the SDO to be read are coded in this message.
CAN-ID DLC DATA
600h + N
8
40h SDO_L SDO_H SUB BYTE 1 BYTE 2 BYTE 3 BYTE 4
Confirmation:
CAN-ID DLC DATA
580h + N 43h SDO_L SDO_H SUB BYTE 1 BYTE 2 BYTE 3 BYTE 4
5.2.21 Object list SDO
Every CANopen device manages its SDOs in an object list. The complete object list is for-
mally described in an EDS file. Many CANopen tools can read this EDS file and as a result
know the object characteristics of the CANopen device.
In the following, all objects for the UE410-CAN Gateway are shown combined into groups.
Tab.
54
:
Write SDO
Tab.
55
:
Confirmat
ion SDO
Fig.
7
:
Standard objects SDO