Request
Response
Figure 17: Example request/response telegram
In the example, the inclination sensor (ID = 5) receives the read request (CCD = 40h)
for object 1000h from the PLC via ID 0605h (Receive SDO 0600h + inclination sensor
ID).
The inclination sensor responds by sending ID 0585h (Transmit SDO 0580h + inclina‐
tion sensor ID) with feedback (CCD = 43h).
9.6
Process data objects (PDO)
Process data objects (PDO) are used for rapid and efficient data exchange of real-time
data (e.g., I/O data, setpoint values or actual values).
PDOs are transmitted without confirmation.
The inclination sensor supports one or two (TMS/TMM88D) transmit PDOs.
CANOPEN INTERFACE
9
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
29
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
