CANopen information
TR-Electronic GmbH 2016, All Rights Reserved
Printed in the Federal Republic of Germany
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TR - ECE - BA - DGB - 0128 - 01
11/20/2018
3.5.2 Read SDO
Initiate Domain Upload
Request Protocol format:
COB-Identifier = 600h + Node-ID
Read SDO´s
Byte
0
1
2
3
4
5
6
7
Contents Code
Index
Sub-
Index
Data 0 Data 1 Data 2 Data 3
40h
Low
High
Byte
0
0
0
0
The Read SDO telegram has to be send to the slave.
The slave answers with the following telegram:
Response Protocol format:
COB-Identifier = 580h + Node-ID
Read SDO´s
Byte
0
1
2
3
4
5
6
7
Contents Code
Index
Sub-
Index
Data 0 Data 1 Data 2 Data 3
4xh
Low
High
Byte
Data
Data
Data
Data
Format Byte 0:
MSB
LSB
7
6
5
4
3
2
1
0
0
1
0
0
n
1
1
n = number of data bytes (bytes 4-7) that does not contain data
If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH".
If byte 0 = 80h the transfer has been aborted.
