ECM NOxCAN, Instruction Manual, Page: 12 / 46

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5.0 Writing to the NOxCAN Module (SDO Write)
Configuration of the NOxCAN module is performed by writing to the Object Dictionary (OD)
and by issuing ECM CANopen OS Commands (OS Command). Both of these actions are
implemented using a Service Data Object Expedited Write (SDO Write). The format is as
follows:
SDO Write Tx
CAN id
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID Size OD lo OD hi Sub Data0 Data1 Data2 Data3
Size = 0x2F (1 byte write)
0x2B (2 byte write)
0x23 (4 byte write)
OD lo = low byte of OD address
OD hi = hi byte of OD address
Sub = Subindex of OD address
Data0 always contains the Least Significant Byte (LSB) of the data to be written to the OD.
A SDO Write will generate the following reply:
SDO Write Rx
CAN id
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x580+NID 0x60 OD lo OD hi Sub
Example: Write a 2 byte integer = 0x204 to OD address 0x5017 subindex 0 in the module with
NID = 0x10
SDO Write Tx
CAN id
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x610 0x2B 0x17 0x50 0x00 0x04 0x02
The module will reply as follows:
SDO Write Rx
CAN id
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x590 0x60 0x17 0x50 0x00