Siko AP10 - Parameter Data Exchange; Transfer of Service Data Objects (SDO)

Communication via CAN bus (CANopen)
AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 23 of 78
Bit
Meaning
Value = 0
Value = 1
5
Target window1 dynamic
not reached
reached
With "Display" operating mode:
Acknowledgement of set point1
not acknowledged
acknowledged
6
Deviation
actual position <=
set point
actual position > set
point
7
Battery empty (fault)
not present
is present
8
Guarding Bit
is mirrored from the
control word and
output here
is mirrored from the
control word and
output here
9
Position value = incremental
measurement
OFF
ON
With "Display" operating mode:
Data identifier
The data identifier is only supplied when
reading out the setpoints (RTR),
otherwise always 0.
number
ASCII-String
10
Validity set point2
invalid
valid
11
Battery status (warning)
all right
critical
12
Sensor error
(Tape-Sensor or Lost-Sensor or Speed)
not present
is present
13
key
not actuated
actuated
14
key
not actuated
actuated
15
key
not actuated
actuated
Table 16: Status word
5.4 Parameter data exchange
5.4.1 Transfer of Service data objects (SDO)
Service data objects serve mainly for device configuration via the directory of objects.
SDOs are exchanged between two participants exclusively via expedited Request/Response.
User data is sent already with the initialization message. The identifier is set to 11 bits and
cannot be changed.
Two SDO services are available:
• SDO (rx) (master  AP10): 600h + Node-ID
• SDO (tx) (AP10  master): 580h + Node-ID
These SDO identifiers cannot be changed!