Components and Operation
English, Revision 03, Date: 12.07.2011
12
2.2.5.3
Description of the Service Data Objects (SDOs)
The service data object is used to access to the object index. An SDO is always trans-
mitted with a confirmation, i. e. each reception of the message is acknowledged. The
identifiers for read and write access are:
Read access:
0x600 + node address,
Write access:
0x580 + node address.
The SDO telegrams are described in the CiA
®
standard DS-301. The error codes in
case of faulty communication are listed in the following table:
2.2.5.4
Object Directory
All objects relevant for the device are included in the CANopen® Object Directory.
Each entry is indicated by a 16 bit index. Sub-components are indicated by a 8 bit sub
index. RO indicates read only entries. The object index is subdivided into the following
areas:
Overview of the object directory:
Name
Number
Description
SDO_ABORT_UNSUPPORTED
0x06010000
non-supported access to an object
SDO_ABORT_NOT_EXISTS
0x06020000
object not implemented
SDO_ABORT_READONLY
0x06010002
write access to a read-only object
SDO_ABORT_SIGNATURE
0x08000020
The signature ’load’ or ’save’ was not used for load-
ing or saving parameters. On the deletion of the
transponder code the signature „c“ was not used.
Table 9
SDO telegram error codes
Index
Subindex
Access
Description
EEProm
0x1000
0
RO
Device Type
0x1001
0
RO
Error Register
0x1008
0
RO
Device Name
0x1009
0
RO
Hardware Version
0x100A
0
RO
Software Version
0x1010
0
RO
Number of entries of Save
Parameter
1
RW
Store all
Table 10
CANopen
®
Directory: Communication specific entries in the range from
0x1000 to 0x1FFF (part 1 of 2)
