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85201A_RK5C_User Manual_02-2017_ENG
4. SDO SERVICES
SDO services provide direct access to the object entries of a CANopen device's object dictionary. The device initiating
the SDO transfer is called the SDO client.
The CANopen device hosting the accessed object dictionary is called the SDO server.
SDO download
The SDO client uses this service for transferring data to the object dictionary of the SDO server. SDO download ser-
vice is therefore used to configure (write) communication, device and manufacturer parameters of the GEFRAN RK5C
CANopen device.
COB-ID
Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
600h +
node-ID
Rx
8
Cs
Index
Sub
index
Data
580h +
node-ID
Tx
8
60h
Index
Sub
index
00h
00h
00h
00h
Figure 26 - SDO download message
where:
Cs is the command specifier of the SDO download request, whose value depends on the number of bytes of Data field:
Cs=23h 4 transmitted data bytes
Cs=27h 3 transmitted data bytes
Cs=2Bh 2 transmitted data bytes
Cs=2Fh 1 transmitted data bytes
Data is the data to be copied in the object dictionary value (Intel format byte ordering)
Index is the object dictionary parameter index (Intel format byte ordering)
Sub index is the object dictionary parameter sub index
SDO upload
The SDO client uses this service for transferring the data from the server (owner of the object dictionary) to the client.
SDO upload service is therefore used to check (read) communication, device and manufacturer parameters of the
GEFRAN RK5C CANopen device.
COB-ID
Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
600h +
node-ID
Rx
8
40h
Index
Sub
index
00h
00h
00h
00h
580h +
node-ID
Tx
8
42h
Index
Sub
index
Data
Figure 27 - SDO upload message
where:
Index is the object dictionary parameter index (Intel format byte ordering)
Sub index is the object dictionary parameter sub index
Data is the data value read from object dictionary (Intel format byte ordering)