FC 300 CANopen
40
MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark
The following attributes specify a SDO domain object:
•
name: according to CMS naming conventions with <application-specific name> = "SDO_xxx” with
“xxx” as the number of the SDO, starting with 001. xxx = 001 - 128 for Server SDOs, 129 - 256 for
Client SDOs.
•
user type: client or server (owner of accessed object dictionary = server)
•
class: Multiplexed Domain
•
priority: application specific, suggested between [6,7]
•
mux data type: STRUCTURE OF UNSIGNED (16) index,
UNSIGNED (8) sub-index with "index" specifying an entry of the device object dictionary and "sub-
index" specifying a component of a device object dictionary entry
Four different routines exist for uploading or downloading SDO data:
Initiate download
Download segment
Initiate upload
Upload segment
Initiate download
The initiate download starts the SDO communication from the client to the server.
Client request:
0 Byte
1
4
8
7..5 ccs
4 x
3,2 n
1 e
0 s
m index, sub index
d data
Server response:
0 Byte
1
4
8
7..5 scs
4 ..0 x
m index, sub index
reserved
Byte 0
Bytes 4-7
Bit 5-7
Bit 4
Bit 2,3
Bit 1
Bit 0
ccs / scs
X
n
e
s
data
0: -
0
0: all data valid
(size 4 byte)
0 0 reserved
1: init. Download request
ccs
0
1: byte 7 no data
(size 3 byte)
0
1
numbers of bytes for
download
2: -
0
2: byte 6 - 7 no
data
(size 2 byte)
1
0
numbers of unspecified.
bytes for download
3: init. Download response
scs
0
3: byte 5 - 7 no
data
(size 1 byte)
1
1
data, length 4-n