Control via PROFINET IO
6.1.1 Upload SDO (Index 0xB711)
By means of this service the object (SDO), described via index and sub-index, of the selected node
with the node number
Node-ID
is read.
First the Write service is used to activate the CANopen-PN to read the data and to store it
internally. For reading these data the Read service is used.
The parameters used when writing (Write services) are defined as described in the following (the
parameter
Data Type
has to be set according to table 4):
PROFINET IO Write Service
Index
Parameter Description
Value range
Data type
0xB711
1
CANopen Node-ID
0x01..0x7F
unsigned 8
2
Index
0x0000..0xFFFF
unsigned 16
3
Sub-index
0x00..0xFF
unsigned 8
4
Data Type
0x00..0xFF
unsigned 8
When reading the data are automatically adjusted in the byte order (Endianness) and returned.
I.e., the byte order of the objects with the sizes 2, 4 and 8 bytes will be interchanged from Little-
Endian (Intel) format, as used for CANopen, into Big-Endian (Motorola) format, as used for
PROFINET IO. All other objects are transmitted unchanged.
The parameter of the following reading (Read Service) are defined as follows:
PROFINET IO Read Service
Index
Parameter Description
Value range
Data type
0xB711
1
Data
*
*
*... Value range and data type dependent on the object that is read.
In the event of errors a data response with ErrorCode = 0xDE (IODReadRes) and ErrorDeCode =
0x80 (PNIORW) is returned for the read service. In
ErrorCode1
– consisting of
ErrorClass
and
ErrorCode
- the following values are returned according to the error table "Assignment of SDO
abort codes of CANopen" in [6]:
PROFINET IO Side
CANopen Side
Error
Class
Error
Code
ErrorCode1
SDO Abort
Code [2]
Description of SDO Abort Code
11
8
0xB8
0x0503 0000 Toggle bit not alternated.
12
3
0xC3
0x0504 0000 SDO protocol timed out.
11
8
0xB8
0x0504 0001 Client/server command specifier not valid or
unknown.
11
1
0xB1
0x0504 0002 Invalid block size (block mode only).
11
8
0xB8
0x0504 0003 Invalid sequence number (block mode only).
11
8
0xB8
0x0504 0004 CRC error (block mode only).
12
3
0xC3
0x0504 0005 Out of memory.
11
6
0xB6
0x0601 0000 Unsupported access to an object.
CANopen-PN
Manual • Doc. No.: C.2921.21 / Rev. 1.6
Page 57 of 105
