CANopen 99/176
3 842 530 344/2014-05, MIT: ID 40,
Bosch Rexroth AG
9.8.2
SDO 2
This SDO channel is reserved for online diagnostics with corresponding diagnostic
tools. It remains inactive by default and only runs once configured (see Chapter
11.3.4 “Configuring the second SDO channel”). It functions in the same manner as
SDO 1.
Both the CANopen master and the diagnostic tools can edit the COB IDs of SOD 2
using corresponding object access if necessary.
9.8.3
SDO timeout client (object 2020)
This object defines the maximum time the SLK has to wait for a follow-up telegram
from the master (client). If this time is exceeded, the SLK terminates communication
with
abort transfer
(see [C17] for abort code).
By default, the SLK waits one second. IF the bus master needs more time to process
more data from the SDO upload, this parameter can be adjusted. The time counts
down until the SLK receives packet confirmation.
Table 33: Object description
INDEX
2020
Name
SDO timeout client
Object code
ARRAY
Data type
Unsigned32
Category
Optional
Table 34: Description of entries
Subindex
00
Description
Number of implemented SDO channels
Entry category
Mandatory
Access
Read only
PDO mapping
No
Value range
2
Default value
2
Subindex
01
Description
Timeout for SDO channel 1 (client side)
Entry category
Mandatory
Access
Read write
PDO mapping
No
Value range
0 = disable timeout, > 0 = timeout value in ms
Default value
1,000 ms
Subindex
02
Description
Timeout for SDO channel 2 (client side)
Entry category
Mandatory
Access
Read write
PDO mapping
No
Value range
0 = disable timeout, > 0 = timeout value in ms
Default value
1,000 ms
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