Siko MSA501, User Manual, Page: 16 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 16 of 51
3. Disable current mapping via 1A00.0h = 0.
COB-ID User data
Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
601h 23h 00h 1Ah 00h 00h 00h 00h 00h
4. Execute desired changes on mapping
COB-ID Nutzdaten
Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
601h 23h 00h 1Ah 01h 20h 00h 04h 60h
601h 23h 00h 1Ah 02h 08h 01h 22h 51h
601h 23h 00h 1Ah 03h 08h 02h 22h 51h
5. Enable mapping via 1A00.0h = 3.
COB-ID User data
Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
601h 23h 00h 1Ah 00h 03h 00h 00h 00h
6. Enable TPDO1 via COB-ID = 00000181h.
COB-ID User data
Command Index L Index H Sub-index Data 0 Data 1 Data 2 Data 3
601h 23h 00h 18h 01h 81h 01h 00h 00h
5.4 Parameter data exchange
5.4.1 Transmission of Service Data Objects (SDO)
Service data objects serve mainly device configuration via the directory of objects. SDOs in
the expedited Request/Response and in the normal normal Request/Response are supported.
The identifier is set to 11 bits and cannot be changed.
Two SDO services are available:

SDO (rx) (Master

MSA501): 600h + Node-ID

SDO (tx) (MSA501  Master): 580h + Node-ID
These SDO identifiers cannot be changed!
5.4.1.1 Expedited Request/Response
Except for reading the object 1008h: Manufacturer Device Name , all SDOs are exchanged
between two subscribers in the expedited Request/Response method. The user data is
provided already with the initialization message.