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User Manual
CANopen / Ethernet
Document code: MN67503_ENG Revision 2.100 Page 26 of 33
ETHERNET PROTOCOL:
For the CANopen it is possible to use two types of data: SDO and PDO. It is possible to have no more than ten PDO, which must be declared
in the “SW67503 Compositor”, while SDO should not be reported.
Write Frames
P
DO
The transmission of PDO is very simple: it has a fixed structure that consist in a maximum of eleven bytes:
Byte Number
Description
1
Write Identifier (0x02)
2
Type of Data (PDO=0x01)
3
Number of frame to send (number of row of
“SW67503 compositor”)
4÷n+3
Data
n=number of byte defined in the Compositor
The Byte that compose the respons is only one:
Byte Number
Description
1
Ok=0x01 / Error in sending=0x02
Example:
We want to write the frame number one of SW67503 Compositor:
•
Type of Data: PDO; Number of frame to send: 1; Data: 0x01020304
So the string of hexadecimal numbers is:
REQ:[02][01][01][01][02][03][04]
RES:[01]
