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User Manual
NMEA2000 / CANopen
Document code: MN67461_ENG Revision 1.000 Page 24 of 36
Page 24 of 36
SET SDO CLIENT:
By pressing the “
Set SDO Client
”
button from the main window of
SW67461 (Fig. 2) the window “Define
NMEA2000 Frames to use the Client
SDO” appears (Fig. 10).
In this window is possible to configure
five NMEA2000 messages used to read
and write SDO data from other devices
in the network CANopen.
The first two frames are used to read
a SDO, the last three messages are
used to write a SDO.
READ SDO
Request frame NMEA2000 to read a SDO
When the gateway receive this message, it sends a read SDO request to CANopen network.
The coordinates of the SDO are inside the data bytes of the NMEA2000 message in this format:
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
ID Device
Index
Index
SubIndex
Num Byte
Not used = 0
Not used = 0
Not used = 0
Answer frame NMEA2000 of a read SDO
The gateway sends this frame with the answer of the SDO.
The Data bytes of this message are so formed:
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
ID Device REQ
Index REQ
Index REQ
SubIndex REQ
Data byte 1
Data byte 2
Data byte 3
Data byte 4
Figure 10: “Define NMEA2000 Frames to use the Client SDO” window
