TECO F510 series - Page 527

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11.10.6 Connection instructions
Service data object (SDO)
This module supports 1 SDO server, which means it can provide SDO service, and the
SDO uses the sending and receiving COB-ID of the predefined connection, 0x580 +
NodeID (sending) and 0x600 + NodeID (receiving).
Each SDO message includes a set of COB-ID (request SDO and response SDO); it
allows performing of access actions within two nodes. SDO can transmit any size of data,
but segment transmission must be used once it exceeds 4 bytes.
The COB IDs of SDO communication are as follows:
Read: Master to slave (request code 0x40) / Master to slave: 600H + Node ID
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(600H) + Node
ID
Reque
st
code
Object index
Object
subind
ex
Request data
LSB MSB Reserved
Read: Slave response / slave to master: 580H + Node ID
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(580H) + Node
ID
Reque
st
code
Object index
Object
subind
ex
Request data
LSB MSB
bit0~
bit7
Bit8~
bit15
Bit16~
bit23
Bit24~
bit31
Response code:
43H: Read 4-byte data / 4BH: read 2-byte data / 4FH: read 1-byte data
Write: Master to slave (4-byte data maximum)
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(600H) + Node
ID
Reque
st
code
Object index
Object
subind
ex
Request data
LSB MSB
bit0~
bit7
Bit8~
bit15
Bit16~
bit23
Bit24~
bit31
Request code:
23H: Write a 4-byte data entry
2BH: Write a 2-byte data entry
2FH: Write a 1-byte data entry