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User manual SCAIME:
NU-Soft-eNod4F-E-0716_235704-C.doc
The whole object dictionary is accessible and can be configured from usual CANopen® configuration tools. This can be
done using
eNod4
available
EDS file.
5.7.1
SDO communication
The model for SDO communication is a client/server model as described below:
The node that sends the request is the client application whereas
eNod4
only behaves as the server application. There
are two types of requests, write and read requests. Both have the same structure:
COB-ID
DLC
byte 0
byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
11 bits
1
byte
Command
byte
Index
sub-index
Data
580
H
or 600
H
+ ID
eNod4
8
see table
LSB
MSB
/
LSB
-
-
MSB
The client request uses the SDO(Rx) COB-ID (600
H
+ ID
eNod4
and the server uses the SDO(Tx) COB-ID (580
H
+ ID
eNod4
).
The
command byte
depends on the requested data length:
Client request
Server response
read data
40
H
43
H
4-bytes data
4B
H
2-bytes data
4F
H
1-byte data
write 4-bytes data
23
H
60
H
write 2-bytes data
2B
H
write 1-byte data
2F
H
For a read request, the value of the four last bytes of the frame (data) does not matter.
If an error occurs during a SDO communication
eNod4
responds with the command byte 80
H
and the four data bytes
contain one of the following SDO abort codes. The data transfer is aborted.
SDO abort codes (hex.)
Description
5040001
SDO command specifier not supported
6010001
unsupported access to an object
6010002
attempt to write a read-only object
6020000
the object does not exist in the object dictionary
6040042
the number and length of the objects to be mapped would exceed PDO
length
6040047
impossible operation (for example reading a net/gross value during a tare
or a zero)
