VIPA System 200V IM Series, Руководство пользователя, Страница: 212 / 348

Chapter 5 CANopen
Manual VIPA System 200V
5-58 HB97E - IM - Rev. 06/29
IM 253CAN - CANopen slave - SDO
The
S
ervice
D
ata
O
bject (SDO) serves the read or write access to the
object directory. The CAL layer 7 protocol gives you the specification of the
Multiplexed-Domain-Transfer-Protocol that is used by the SDOs. This
protocol allows you to transfer data of any length because where
appropriate, messages are distributed to several CAN messages with the
same identifier (segment building).
The first CAN message of the SDO contain process information in 4 of the
8 bytes. For access to object directory entries with up to 4Byte length, one
single CAN message is sufficient. The following segments of the SDO
contain up to 7Byte user data. The last Byte contains an end sign. A SDO
is delivered with acknowledgement, i.e. every reception of a message is
receipted.
The COB identifiers for read and write access are:
•
Receive-SDO1: 0x600 + Module-ID
•
Transmit-SDO1: 0x580 + Module-ID
Note!
A detailed description of the SDO telegrams is to find in the DS-301 norm
from CiA.
In the following only the error messages are described that are generated
at wrong parameterization.
SDO