Industrial
Electronic Devices
ADFweb.com S.r.l.
User Manual
CANopen / Ethernet
Document code: MN67503_ENG Revision 2.100 Page 29 of 33
S
DO
The Bytes that compose the request are seven:
Byte Number
Description
1
Read Identifier (Read=0x01)
2
Type of Data (SDO=0x02)
3
Address of CANopen device connect to the HD67503
4
Index SDO Hi
5
Index SDO Lo
6
SubIndex SDO
7
Number of byte of frame to read
The Byte that compose the respons is:
Byte Number
Description
1
Ok=0x01 / Parameter Error=0x02 / Error in
sending=0x03
2÷n+1
Data
n=number of byte for the
selected frame
Example:
We want to read:
•
Address of CANopen device: 0x14; Type of Data: SDO; Index: 0x2000; SubIndex: 0x01; Number of byte: 4.
So receive the value 0x1A2B3C4D.
The string of hexadecimal numbers is:
REQ:[01][02][14][20][00][01][04]
RES:[01][1A][2B][3C][4D]
