ACS CANopen Manual
Version 20110928
19 of 44
AC C E L E N S ( AC S ) C AN o p e n
Object 1A00h: 1st Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 1st transmit PDO.
Subindex
Description
Data Type
Default
Value
Access
Restore after
BootUp
0
Number of sub
indices
Unsigned 8
1
ro
yes
1
Mapped object
Unsigned 32
6010 00 10
rw
yes
Object 1A01h: 2nd Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 2nd transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub
indices
Unsigned 8
1
ro
yes
1
Mapped object Unsigned 32
6010 00 10
rw
yes
4.5 Explicit Exchanges (SDO)
Service Data Objects (SDOs) allow a device's data
to be accessed by using explicit requests. The
SDO service is available when the device is in an
"Operational" or "Pre-Operational" state.
Types of SDO
There are two types of SDO:
•
Read SDOs (Download SDOs),
•
Write SDOs (Upload SDOs).
The
SDO protocol
is based on a 'Client / Server'
model
:
For a Download SDO:
The client sends a request indicating the object to
be read.
The server returns the data contained within the
object.
For an Upload SDO:
The client sends a request indicating the object to
be written to and the desired value.
After the object has been updated, the server
returns a confirmation message.
For an unprocessed SDO:
In both cases, if an SDO could not be processed,
the server returns an error code.
A typical illustration of SDO for reading the current baud rate value explicitly is given below:
SDO passed as a new message to the device
