
CANopen add-on module
13
SFIDK.PS.023.A2.02
7. SDOs (Service Data Objects)
7.
SDOs (Service
Data Objects)
Service Data Objects are used to establish a peer-2-peer connection between two CANopen
devices. This kind of connection is based on a Client/Server mechanism.
The SDO server is the device that is serving the object dictionary to which the access is required.
The SDO client is the device that wants to access the object dictionary of a specific device.
The SDO service is based on two CAN messages with different identifiers. The SDO client uses
one message and the SDO server uses the second message.
There are three different methods for SDO down-/upload:
•
Expedited SDO transfer,
•
Normal (segmented) SDO transfer, and
•
SDO Block transfer. (Not supported)
Device type
Index
Object name
Access
Type
PDO
Description
mapping
1000h
Device type
R
U32
No
00 = No standardised device profile
Error register
Index
Object name
Access
Type
PDO
Description
mapping
1001h
Error Register
R
U8
No
Always 00h
Manufacturer Device name
Index
Object name
Access
Type
PDO
Description
mapping
1008h
Manufacturer
Const.
U32
No
MASS 6000 CANopen module
Device name
or MAG 6000 CANopen module
Manufacturer HW version
Index
Object name
Access
Type
PDO
Description
mapping
1009h
Manufacturer
Const
Vis. string
No
3.0
HW Version
Manufacturer SW version
Index
Object name
Access
Type
PDO
Description
mapping
100Ah
Manufacturer
Const.
Vis. string
No
2.01 or greater
SW Version
Guard time
Index
Object name
Access
Type
PDO
Description
mapping
100Ch
Guard Time
R/W
U16
No
Guard time in milliseconds