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Temposonics
®
E-Series CANopen
Operation Manual
29
COB ID
Request /
Respond
DLC
Byte
Description
0
1
2
3
4
5
6
7
0x580 + Node ID
Tx
8
0x80
Index
Subindex
Abort code
0x06
0x09
0x00
0x11
Subindex does not exist
0x06
0x09
0x00
0x30
Value exceeded
0x06
0x02
0x00
0x00
Object does not exist in the object dictionary
0x06
0x01
0x00
0x01
Object is write only
0x06
0x01
0x00
0x02
Attempt to write a read only object
0x08
0x00
0x00
0x20
Data transport error
0x08
0x00
0x00
0x00
General error
0x08
0x00
0x00
0x22
Wrong state
0x06
0x01
0x00
0x00
Unsupported access to an object
0x06
0x07
0x00
0x01
Data type does not match
5.6.4 SDO TPDO communication parameter: Index 1800 (PDO1) to index 1803 (PDO4)
Example
COB ID
Request /
Respond
DLC
Byte
Description
0
1
2
3
4
5
6
7
Subindex 1 COB ID of the TPDO
600 +
Node ID
Rx
8
0x23
0x00
0x18
0x01
0x80 +
Node ID
0x01
0x00
0x40
Set transmission types example
(11-bit CAN-ID 1FFh, no RTR allowed, valid: yes)
580 +
Node ID
Tx
8
0x60
0x00
0x18
0x01
0x00
0x00
0x00
0x00
600 +
Node ID
Rx
8
0x40
0x00
0x18
0x01
0x00
0x00
0x00
0x00
Readout transmission types example
580 +
Node ID
Tx
8
0x43
0x00
0x18
0x01
0x80 +
Node ID
0x01
0x00
0x40
Subindex 2 transmission character
0x67F
Rx
8
0x2F
0x00
0x18
0x02
0xFE
0x00
0x00
0x00
Set transmission character
“FE event-driven (manufacturer-specific)”
0x5FF
Tx
8
0x60
0x00
0x18
0x02
0x00
0x00
0x00
0x00
0x67F
Rx
8
0x40
0x00
0x18
0x02
0x00
0x00
0x00
0x00
Readout transmission character example “FE”
0x5FF
Tx
8
0x4F
0x00
0x18
0x02
0xFE
0x00
0x00
0x00
Subindex 5 contains the event-timer
(The value is defined as multiple of 1 msec. A value of “0” disables the event-timer.)
0x67F
Rx
8
0x2B
0x00
0x18
0x05
0x01
0x00
0x00
0x00
Set event timer example “1 ms”
0x5FF
Tx
8
0x60
0x00
0x18
0x05
0x00
0x00
0x00
0x00
0x67F
Rx
8
0x40
0x00
0x18
0x05
0x00
0x00
0x00
0x00
Readout event timer example “1 ms”
0x5FF
Tx
8
0x4B
0x00
0x18
0x05
0x01
0x00
0x00
0x00
Example 4: Configuration of Index 1800 (PDO1)
Table 12: SDO abort codes
5.6.3 SDO abort
If SDO download or SDO upload service fails for any reason the CANopen sensor does not respond with the corresponding SDO message, but
with a SDO abort protocol.