For each CANopen variable, user can configure the Index and Subindex of the
manufacturer object on his own device with properties ECU Variable Index and ECU
Variable Subindex.
The device can also send an SDO Download Write Request to the CANopenECU
using this setting and PClient Client Channel as defined in the Terminal and Owner
ECU(s) Configuration
Example:
The user wants to communicate via SDO Communication between his own CANopen
ECU and device. By updating a CANopen variable on the device using Java Script or
Encoder, a SDO
Download Write Request will be sent to the CANopen ECU.
Assuming a CANopen protocol instance is already created and a CANopenECU is
added.
User configures CANopenECU Properties
PClient COB-ID Client -> Server (tx) to 0x602
and PClient COB-ID Client -> Server (rx) to 0x582 if the CANOpen ECU Node-ID is
set to 0x2
User creates a CANopen Variable with CANopenVar with index 0x3000,0x1 and set
the ECU Variable Index to 0x4500 and ECU Variable Subindex 0xdd (as defined on his
own ECU). Other properties are set to default .
User assigns the variable into a numeric field as input for example. On the device, the
variable will be be updated using the Encoder to value 0x2. The following SDO
Download message will be sent by the device
[602|8| 2B 00 45 DD 02 00 00 00 ]
As soon as the answer is received from device, the value will be updated in the DDO.
[582|8| 60 03 24 01 00 00 00 00 ]
Since version 1.12 the CANopen stack does support SDO Upload Requests (read a
value from a CANopen ECU's object dictionary).
Preconditions for using SDO Upload Requests:
·
The variable which shall be read via SDO Upload request needs to be owned by a
CANopen ECU
·
The PClient SDO Client Channel COB-IDs of the CANopen ECU need to be
configured
·
The ECU Variable Index and ECU Variable Subindex in the Protocol Specific
section of the variable properties need to contain the index and subindex of the
variable in the ECU's object dictionary.
The only way to trigger the sending of a SDO Upload Request is the new JavaScript
function requestVariableValueFromOwner .
Rules that apply for SDO Upload Requests:
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