POWERLINK Data Communication
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SmartWire-DT Gateway | EU5C-SWD-POWERLINK
DOC130802UM02EN | Revision 2 | English | 2013-12 | Released | Public
© Hilscher 2013
9.1.2
SDO Read (Acyclic Input)
Elements SDO Read
The requested data can be read by using
Object Index 0x3000
together
with
Sub-Index 2
. The response features the following elements:
Element
Description
Data
type
Value range
Value
example
Value
example in
hex
Slave Address
Address of the SWD slave of
which data has been read.
uint8 1…99
5
0x05
SWD Index
SWD index of the data which
has been read, e. g. error
counter or firmware version.
uint8 0…255
127
0x7F
Request Type
Type of request.
A read request has the value
0
uint8
Read Request = 0
Write Request = 1
0
0x00
Length
Length of the received
response in bytes
uint8 1…120
120
0x78
Data
Actual data which has been
read according to SWD Index,
e. g. error counter or firmware
version.
uint8
[120]
(…) (…)
(…)
State
State of the response
uint8
Idle = 0
In progress = 1
Finished = 2
Error = 3
2
0x02
Error Code
Error detected by the SWD
master (i. e. by the gateway)
uint32
No error
= 0x00000000
JOBID_BUFFER_FULL
= 0xC0AD0002
JOB_DENIED
= 0xC0AD0003
NOT_AVAILABLE
= 0xC0AD0004
0
0x00
Table 17: Elements SDO Read
Example SDO Read
In case the response is finished and no error was detected, the
SDO Read
(which is sent back by the gateway to the Managing Node in order to
answer the
SDO Write
) features the following values:
Syntax
Elements
Object
Index
Sub-Index
Slave
Address
SWD Index
Request Type
Length
Data State
Error Code
0x3000 0x02
0x05
0x7F
0x00
0x78
(…) 0x02
0x00000000
Table 18: Example SDO Read
