Device Description
English, Revision 03, Date: 11.05.2017
10
2.5.4
Description of Service Data Objects (SDOs)
To access the object directory the service data object (SDO) is used. An SDO is trans-
ferred with an acknowledgement, i.e. each incoming message is confirmed. The iden-
tifiers for read and write access are:
Read access:
0x600 + Node-address,
Write access:
0x580 + Node-address.
The SDO telegrams are described in CiA standard DS-301. The error codes which
may occur due to an erroneous communication are listed in the following table.
2.5.5
Object Directory
The CANopen object directory comprises all relevant objects for the device. Each en-
try is marked by a 16 bit index. Sub components are marked by a 8 bit subindex. Read
only entries are marked by RO.
NOTE!
In the tables parameters that can be stored in the EEProm are
marked with a ’
’.
The object directory is divided into the following parts:
Device state
Code
stopped
0x04
pre-operational
0x7f
operational
0x05
Table 7
CAN: Heartbeat device states
Name
Number
Meaning
SDO_ABORT_UNSUPPORTED
0x06010000
Non-supported access to an object
SDO_ABORT_READONLY
0x06010001
Write access to read-only object
SDO_ABORT_NOT_EXISTS
0x06020000
Object is not implemented
SDO_ABORT_TRANSFER
0x08000020
During saving / loading of parameters the signature
"load" or "save" has not been used. When calling
calibration, signature "cali" has not been used.
SDO_ABORT_PARA_VALUE
0x06090030
Parameter value range exceeded
SDO_ABORT_PARA_TO_HIGH
0x06090031
Parameter value too high
Table 8
CAN: SDO error codes
