turck BL20 - Read (Read from Object Dictionary)

D301087 0308 - BL20 CANopen 4-17
Parameterization through Service Data Objects (SDO)
4
Read (Read from Object Dictionary)
x... depending on the length of data read
LSB = Least Significant bit → lowest value bit
MSB = Most Significant bit → highest value bit
SCS = Server Command Specifier
CCS = Client Command Specifier
(see CiA DS-301)
The stated COB-ID refers to the default SDO server.
Note
The BL20 gateway generates length information as to how many
data bytes are to be read (see CiA DS-301, Page 9-24 ff). This infor-
mation is found in byte 0 "SCS = 4xh". The value x depends on the
length of data read.
0000
Byte 0
Byte 0
Byte 4
Byte 4
Byte 2
Byte 2
Byte 6
Byte 6
Byte 1
Byte 1
Byte 5
Byte 5
Byte 3
Byte 3
Byte 7
Byte 7
CCS =
40h
SCS =
4xh
Index
lsb msb
Index
lsb msb
Sub-Index
Sub-Index Data
COB-ID = 1537 + Node-ID - 1
COB-ID = 1409 + Node-ID - 1
Client
Client
Server