Beckhoff CX8050, Documentation

Page: 80 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
80 Version: 1.4
9.2.4 Service Data Objects (SDO)
The parameters listed in the object directory are read and written by means of service data objects. These
SDOs are
Multiplexed Domains , i.e. data structures of any size that have a multiplexer (address). The
multiplexer consists of a 16-bit index and an 8-bit sub-index that address the corresponding entries in the
object directory.
SDO protocol: access to the object directory
The CANopen Bus Couplers are servers for the SDO, which means that at the request of a client (e.g. of the
IPC or the PLC) they make data available (upload), or they receive data from the client (download). This
involves a handshake between the client and the server.
When the size of the parameter to be transferred is not more than 4 bytes, a single handshake is sufficient
(one telegram pair): For a download, the client sends the data together with its index and sub-index, and the
server confirms reception. For an upload, the client requests the data by transmitting the index and sub-
index of the desired parameter, and the server sends the parameter (including index and sub-index) in its
answer telegram.
The same pair of identifiers is used for both upload and download. The telegrams, which are always 8 bytes
long, encode the various services in the first data byte. All parameters with the exception of objects 1008h,
1009h and 100Ah (device name, hardware and software versions) are only at most 4 bytes long, so this
description is restricted to transmission in expedited transfer.
Protocol
The structure of the SDO telegrams is described below.
Client -> Server, Upload Request
11 bit
identifier 8 bytes of user data
0x600
(=1536de
z) + node
ID 0x40 Index0 Index1 SubIdx 0x00 0x00 0x00 0x00