Baumer GNAMG Series Руководство - Страница 8
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3.3.3. Service data communication
Service data objects are conform to CiA standards. A certain object is accessed by index and subindex. There
are data requests or, if required, data are written into the object.
General information on SDOs
SDO telegram structure:
COB-ID
DLC
Command
A SDO-COB-ID is composed as follows:
Master -> inclination sensor :
Inclination sensor -> master :
DLC (Data length code) defines the length of a telegram with following structure:
1 byte command + 2 bytes object + 1 byte subindex + number of data bytes (0..4).
The command byte specifies whether data are write or read only and how many data bytes are involved:
SDO command
Meaning
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
Abort Message means an error in CAN communication. SDO command byte is 80h. Object and subindex are
those of the requested objects. The error code is in bytes 5..8.
ID
DLC
Byte 1
580h + Node-ID 8
80h
Byte 8..5 composes the SDO abort message (Byte 8 = MSB).
The following messages are supported:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
Manual_GNAMG_CANopen_EN.doc
21.11.12
Object L
Object H
600h + Node-ID
580h + Node-ID
Data length
max. 4 Byte
4 Byte
2 Byte
1 Byte
-
-
max. 4 Byte
4 Byte
2 Byte
1 Byte
-
Byte 2
Byte 3
Object L
Object H
: command byte not supported
: incorrect access to an object
: Read access to write only
: Write access to read only
: Object not supported
: Subindex not supported
: Value is not within the defined limits
: Value too high
: General error
: Incorrect memory signature ("save")
: No data saving possible
Subindex Data 0
transmit parameter to inclination sensor
confirm download to master
request parameter upload from inclination
sensor
parameter to master, max. 4 bytes
Inclination sensor gives error code to
master
Byte 4
Byte 5
Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
8/41
Data 1
Data 2
Data 3
Byte 6
Byte 7
Byte 8
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany