Siko MSA501, Руководство пользователя

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Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 20 of 51
5.4.1.4 SDO examples
Example of reading SDO parameters with the expedited Request/Response:
The calibration value stored in object 6003 of the directory of objects is to be read from the
slave with device address 1h.
Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h
Command 40h
Index: 6003h
Sub-index: 00h
The current value is 510d = 01FEh
Request of master from slave with node ID 1h:
COB-ID User data
Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
601h 40h 03h 60h 00h x x x x
Response to the request by the slave:
Calculation of the identifier: 580h + Node-ID = 581h
COB-ID User data
Command Index LB Index HB Subindex Data 0 Data 1 Data 2 Data 3
581h 43h
(4 Bytes
gültig) 03h 60h 00h FEh 01h 00h 00h
Example of writing SDO parameters with the expedited Request/Response:
The calibration value stored with 2 bytes in object 6002 of the directory of objects is to be
changed in the slave with device address 1h.
Calculation of the Identifier: 600h + Node-ID = 600h + 1h = 601h
Command: 2 bytes are to be written 2Bh
Index: 6200h
Subindex: 00h
The new value shall be 4500d = 1194h
Writing of a value from master to slave with node ID 1h:
COB-ID User data
Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
601h 2Bh
(2 Bytes
gültig) 00h 62h 00h 94h 11h 00h 00h
Response to the command by the slave:
Calculation of the identifier: 580h + Node-ID = 580h + 1h = 581h
COB-ID User data
Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3
581h 60h 00h 62h 00h 00h 00h 00h 00h