Baumer GIM500R Handbuch - Seite 8

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Service data communication

3.3.3

The service data objects correspond to the standards of the CiA. It is possible to access an object via index

and subindex. The data can be requested or where applicable written into the object.

General information on the SDO

Structure of an SDO telegram:

COB ID

DLC

Command

An SDO-COB ID is composed as follows:

Master -> Sensor

Sensor -> Master

DLC (data length code) describes the length of the telegram. This is composed as follows:

1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).

The command byte defines whether data is read or set, and how many data bytes are involved.

SDO command

Description

22h

Download request

23h

Download request

2Bh

Download request

2Fh

Download request

60h

Download response

40h

Upload request

42h

Upload response

43h

Upload response

4Bh

Upload response

4Fh

Upload response

80h

Abort message

An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The

object and subindex are those of the requested object. The error code is contained in bytes 5...8.

DLC

580h + Node ID 8

Baumer_GIM500R_CANopen_MA_EN.docx

03.19

Object L

Object H

: 600h + Node ID

: 580h + Node ID

Byte 1

Byte 2

Byte 3

80h

Object L

Object H

Subindex Data 0

Data length

Max. 4 Byte

Transmits parameter to sensor

4 byte

2 byte

1 byte

Confirms receipt to master

Requests parameter from sensor

Max. 4 byte

Parameter to master with max. 4 byte

4 byte

2 byte

1 byte

Sensor signals error code to master

Byte 4

Byte 5

Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3

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Data 1

Data 2

Data 3

Byte 6

Byte 7

Byte 8