Communication via CAN bus (CANopen)
AP10
Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 24 of 78
SDO messages are set up as follows:
service data (parameters)
Command byte, Byte 0:
The command byte determines the type of access and the number of valid data bytes. The
following command bytes are valid for AP10:
SDO (rx), Initiate Download
Request, expedited
Send parameter to AP10
(all 4 data bytes valid)
SDO (rx), Initiate Download
Request, expedited
Send parameter to AP10
(2 bytes from 4 data bytes valid)
SDO (rx), Initiate Download
Request, expedited
Send parameter to AP10
(1 byte from 4 data bytes valid)
SDO (tx), Initiate Download
Response
Acknowledgement of data
acquisition to master
SDO (rx), Initiate Upload
Request
Request parameter from AP10
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(all 4 data bytes valid)
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(2 bytes from 4 data bytes valid)
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(1 byte from 4 data bytes valid)
SDO (tx), Abort Domain
Transfer
AP10 reports error code to master
Table 17: Command coding
Index, bytes 1 and 2:
The index (object number) is entered in user data byte 2 (low byte) and in in user data byte 3
(high byte) in the Intel data format. Here, the index of the object to be parameterized is
entered.
Sub-index, byte 3:
The sub-index indicates the number of the fields for objects realized as an array.
Service data (Parameter), byte 4-7:
In the service data area, the value of the parameter is entered in left-aligned Intel notation.
Byte 4 = low-Byte ... Byte 7 = high Byte
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