Baumer_GIM500R_CANopen_MA_EN.docx
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03.19
Byte 8..5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:
05040001h
: Command byte is not supported
06010000h
: Incorrect access to an object
06010001h
: Read access to write only
06010002h
: Write access to read only
06020000h
: Object is not supported
06090011h
: Subindex is not supported
06090030h
: Value outside the limit
06090031h
: Value too great
08000000h
: General error
08000020h
: Incorrect save signature
08000021h
: Data cannot be stored
SDO examples
Request
of the resolution value by the master from the slave
A frequent request will be a request for the resolution.
Object
6000h
COB ID
DLC Command
Object L Object H Subindex Data 0
Data
1
Data
2
Data
3
600h+node ID
8
40h
00h
60h
0
x
x
x
x
Response
by the slave
to the request
for a value
The resolution is 2 bytes long, the precise values can be found under object 6000h.
COB ID
DLC Command
Object L Object H Subindex Data 0
Data
1
Data
2
Data
3
580h+node ID
8
4Bh
00h
60h
0
a
b
c
d
Writing
of a value by the master into the slave
Inclination setting can be performed with preset for longitudinal slope.
Object 60
12h
COB ID
DLC Command
Object L Object H Subindex Data 0
Data
1
Data
2
Data
3
600h+node ID
8
2Bh
12h
60h
0
a
b
c
d
Slave's
response
to the
writing of a value
COB ID
DLC Command
Object L Object H Subindex Data 0 Data
1
Data
2
Data
3
580h+node ID
8
60h
12h
60h
0
0
0
0
0
