Baumer GIM700DR 매뉴얼 - 페이지 8

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Baumer GIM700DR에 대해서도 마찬가지입니다: 매뉴얼 (16 페이지)

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CANopen service data communication (SDO)

3.3.3

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

and sub-index. 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:

Consumer -> Sensor

Sensor -> Consumer

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

1 byte command + 2 bytes object + 1 byte sub-index + 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 ob-

ject and sub-index are those of the requested object. The error code is contained in bytes 5...8.

Identifier

DLC

580h

+ Node-ID

Byte 7...4 results in the SDO abort message (byte 7 = MSB).

The following messages are supported:

05040001h

06010000h

06010001h

Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx

27.04.21

Object

LSB

MSB

: 600h + Node-ID

: 580h + Node-ID

Byte 0

Byte 1

Byte 2

80h

Object

LSB

MSB

: Command byte is not supported

: Incorrect access to an object

: Read access to write only

Sub-index Data 0

Data length

Max. 4 Byte

Transmits parameter to sensor

4 byte

2 byte

1 byte

Confirms receipt to Consumer

Requests parameter from sensor

Max. 4 byte

Parameter to Consumer with max. 4 byte

4 byte

2 byte

1 byte

Sensor transmits Error Code to Consumer

Byte 3

Byte 4

Sub-index ErrByte 0

8/32

Data 1

Data 2

Data 3

Byte 5

Byte 6

Byte 7

ErrByte 1

ErrByte 2

ErrByte 3