Hx58x EtherCAT®
5.2.3 Process Data Objects (PDO)
PDO messages are used for transmitting or receiving process data in real time;
data to be transmitted or received is defined in PDO Mapping and managed by
Sync Manager PDO Mapping.
5.2.4 Service Data Objects (SDO)
SDO messages are issued via Mailbox (low priority data); Segmented SDO Service
and SDO Complete Access are not supported (transfer of low size data and one
sub-index at a time).
“CoE Cmd type” = 2 or 3
Structure of “Cmd specific data”:
Cmd specific data
SDO control
Index
Sub index
Data
Data optional
8 bit
16 bit
8 bit
32 bit
1…1470 byte
SDO control
standard CANopen SDO Service
Index
parameter index
Sub index
parameter sub-index
Data
parameter value
Data optional
optionally, more then 4 bytes of data can be sent in one frame.
Full mailbox size usable.
Index and sub-index values are described in the “Object dictionary”.
MAN HM58x EC I_E 1.2.odt
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Summary of Contents for H 58 Series
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