Operating Instructions
Chapter
5
Flexi Classic Gateways
8011834/YT28/2016-03-15
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
41
Subject to change without notice
CANopen Gateway
5.2.20
SDO Upload expedited (Read SDO)
The client requests the contents of an SDO with a Request message to server N. The index
and sub-index for the SDO to be read are coded in this message.
CAN-ID
DLC
DATA
600h + N
8
40h SDO_L
SDO_H
SUB BYTE
1
BYTE 2
BYTE 3
BYTE 4
Confirmation:
CAN-ID
DLC
DATA
580h + N
43h SDO_L
SDO_H
SUB BYTE
1
BYTE 2
BYTE 3
BYTE 4
5.2.21
Object list SDO
Every CANopen device manages its SDOs in an object list. The complete object list is for-
mally described in an EDS file. Many CANopen tools can read this EDS file and as a result
know the object characteristics of the CANopen device.
In the following, all objects for the UE410-CAN Gateway are shown combined into groups.
Tab. 54: Write SDO
Tab. 55: Confirmation SDO
Fig. 7: Standard objects SDO