Leuze electronic OMS2/120 CAN, Technical Description, Page: 37 / 44

#Leuze electronic Transmitting of the laser position value
#Leuze electronic GmbH + Co KG, Postfach 11 11, D-73277 Owen/Teck, In der Braike1, D-73277 Owen/Teck, Tel. ++49 (0)7021/5730, Fax ++49 (0)7021/573199
Date: 01.07.2003 LZ - ELE - BA - GB - 0009 - 00 Page 37 of 42
6.1.2 Write SDO:
(Initiate Domain Download)
Request Protocol format:
COB-Identifier = 600h + Node-ID
Write SDOs
Byte 0 1 2 3 4 5 6 7
content Code Index
Sub-
index
Data 0 Data 1 Data 2 Data 3
2xh low high byte 0 0 0 0
Format byte 0:
MSB LSB
7 6 5 4 3 2 1 0
0 0 1 0 n 1 1
n = number of data bytes ( bytes 4-7) that does not contain data.
If only 1 data byte ( Data 0 ) contains data the value of byte 0 is "2FH".
The Write SDO telegram has to be send to the slave.
The slave answers with the following telegram:
Response Protocol format:
COB-Identifier = 580h + Node-ID
Read SDOs
Byte 0 1 2 3 4 5 6 7
content Code Index
Sub-
index
Data 0 Data 1 Data 2 Data 3
60h low high byte 0 0 0 0
If byte 0 = 80h the transfer has been aborted.