User Manual
CANopen/PROFIBUS DP Gateway
GT200-DP-CO
WWW.SSTCOMM.COM
23
COBID=0x600+nodeID 8 bytes data 23 mm mm nn dd dd dd dd
Among them, 23 is fast read command, mm mm is index, nn is sub index, dd dd dd dd is the data needs to be
written to input buffer;
SDO write command format
COBID=0x580+nodeID 8 bytes data 60 mm mm nn 00 00 00 00
Among them, 60 is fast write response, mm mm is index, nn is sub index, 00 00 00 00 is default value;
For example, nodeID is 1, write data (01 02 03 04) to input buffer index through SDO write command: 0x2000,
sub index: 00
Request: COBID=0x601 8 bytes data 23 00 20 00 01 02 03 04
Response: COBID=0x581 8bytes data 60 00 20 00 00 00 00 00
Among them: 01 02 03 04 is the data needs to be written to input buffer.
When CANopen side is salve, it supports visiting error register to estimate PROFIBUS communication state
through SDO:
SDO read command request format that CANopen master sent
COBID=0x600+nodeID 8bytes data 40 01 10 00 yy yy yy
Among them, 40 is fast read command, 0x1001 is index, 00 is sub index, yy yy yy yy is any value.
SDO read command request format that CANopen slave sent:
COBID=0x580+nodeID 8 bytes data 4f 01 10 00 00 yy yy yy yy (00 means PROFIBUS is not off)
4f 01 10 00 80 yy yy yy yy (80 means PROFIBUS is off)
Among them, 4f is fast read command response, 0x1001 is index, 00 is sub index, yy yy yy is any value.
4.3.3 How Step7 Read and Write Gateway Data
When you choose “Setting through Hardware Configuration of PROFIBUS DP” in the configuration
software SST-CP-CFG, you muse refer to this chapter. GT200-DP-CO provides new modules shown as below.
The maximum allowed number of modules is 64 in Step7. The maximum allowed number of input bytes is 244,
the max number of output bytes is 244 and the aggregate of maximum number of input bytes and output bytes is
488.
