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Chapter
6
Operating Instructions
Flexi Soft Gateways
146
© SICK AG • Industrial Safety Systems • Germany • All rights reserved
8012664/XB29/2013-06-11
Subject to change without notice
Fieldbus gateways
Example:
The following messages are necessary to read the SDO 1003,1 of the CANopen
device with device address 2. The data type of the data to be read is UDINT.
The client sends:
CAN ID
DLC
Data
602h
8
40h 03h 10h 01h 00h 00h 00h 00h
The server responds:
CAN ID
DLC
Data
582h
8
43h 03h 10h 01h 08h 00h 50h 02h
The response data combine to the 32 bit word 02500008h.
6.2.10
SDO object directory
Every CANopen device manages its SDOs in an object directory. The complete object direc-
tory is formally 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 table, all SDOs for the FX0-GCAN gateway are shown.
SDO #
Type
1000 Device
type
1001 Error
register
1003
Error list (error history)
1005
COB ID SYNC
1008 Device
name
1009 Hardware
version
100A Software
version
100C Guard
time
100D
Life time factor
1014
COB ID EMCY (available version V1.30.0 or higher)
1016
Consumer heartbeat time
1017
Producer heartbeat time
1018 Identity
record
1027 Module
list
1400…1403
RxPDO 1…4 communication parameters
1600…1603
RxPDO 1…4 mapping parameters
1800…1803
TxPDO 1…4 communication parameters
1A00…1A03
TxPDO 1…4 mapping parameters
3100
Module status bits
3200
Config CRC array
3300
Module type code array
6000
Process data input objects
6200
Process data output objects
You can find more detailed information on these SDOs in the CANopen draft standard
DS 301 V4.02 (DSP 301 V4.1).
Tab. 117: Example —
Read SDO
Tab. 118: Example —
Read SDO confirmation
Tab. 119: Supported SDOs