CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
82
Version: 1.4
This is, however, not generally necessary, since only the less significant data bytes up to the length of the
object directory entry that is to be written are evaluated. A download of data up to 4 bytes in length can
therefore always be achieved in Beckhoff bus nodes with 22h in the first CAN data byte.
Client -> Server, Download Response
11 bit
identifier
8 bytes of user data
0x580
(=1408de
c) + node
ID
0x60
Index0
Index1
SubIdx
0x00
0x00
0x00
0x00
Parameters Explanation
Index0 Index low byte (Unsigned16, LSB)
Index1 Index high byte (Unsigned16, MSB)
SubIdx Sub-index (Unsigned8)
Breakdown of Parameter Communication
Parameter communication is interrupted if it is faulty. The client or server send an SDO telegram with the
following structure for this purpose:
11 bit
identifier
8 bytes of user data
0x580
(client) or
0x600(ser
ver) +
node ID
0x80
Index0
Index1
SubIdx
Error0
Error1
Error2
Error3
Parameters Explanation
Index0 Index low byte (Unsigned16, LSB)
Index1 Index high byte (Unsigned16, MSB)
SubIdx Sub-index (Unsigned8)
Error0 SDO error code low low byte (LLSB)
Error3 SDO error code high high byte (MMSB)
List of SDO error codes (reason for abortion of the SDO transfer):
Summary of Contents for CX8050
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