Siko IKM360M, User Manual

Page: 15 / 58

Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 15 of 58
User data (parameters), bytes 4 … 7:
In the user data, the value of the parameter is entered in left-aligned Intel notation. Byte 4 =
Low-Byte ... Byte 7 = High-Byte.
5.4.1.2 Normal Request/Response
If more than 4 bytes of service data are to be transferred, the data is exchanged between two
subscribers via the normal Request/Response. This procedure is also initiated by an
initialization message, and the actual user data will be transferred in the subsequent segment
messages.
For the IKM360R this is only the case with reading of the objects 1008h: Manufacturer Device
Name and 100Ah: Manufacturer Software Version .
The initialization message has the following structure:
COB ID User data in binary code
Byte 0
read /
write
Byte 1
LSB Byte 2
MSB Byte 3 Byte 4
LSB Byte 5 Byte 6 Byte 7
MSB
SDO rx/tx +
Node ID Command
byte Index Sub-index User data (number of user data)
The segment message has the following structure:
COB ID User data in binary code
Byte 0
read /
write
Byte 1
LSB Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
MSB
SDO rx/tx +
Node ID Command
byte User data
Initialization and segment message: Command byte, byte 0:
The command byte determines the type of access and the number of valid data bytes. The
following command bytes are valid for the IKM360R:
Command byte Type Function
Read Request 40h SDO (rx), Normal Initiate
Upload Request Request parameter from slave
(number of bytes to be transferred)
Read Request 60h SDO (rx), Normal Segment
Upload Request Request parameter from slave (user
data)
Read Response 41h SDO (tx), Normal Initiate
Upload Response Report parameter to master (number
of bytes to be transferred)
Read Response 03h SDO (tx), Normal Segment
Upload Response Report parameter to master (user
data)
Error Response 80h SDO (tx), Abort Domain
Transfer Slave reports error code to master
Table 11: Command coding