Sdo Communication With Fc510X; Fig. 44 Edit Sdo Entry - Beckhoff FC5101 Documentation

CANopen Communication
5.6

SDO communication with FC510x

CANopen SDO (Service Data Object) communication is used to read or write any parameters in the
CANopen bus node's object directory. The FC5101CANopen PCI card uses SDO communication to
configure the communication parameters when starting up. Two types of application-specific SDO
communication are additionally possible:
1. Downloading Application-Specific Parameters when Starting Up
The appropriate parameters are to be entered here in the System Manager for the corresponding node
under "SDO". The objects that result from the configuration under CAN node appear in square brackets. Any
desired number of object directory entries can then be added.
Fig. 44: Edit SDO entry
The card expects a positive acknowledgement of the parameter download from the relevant bus device. If it
was not possible to write a parameter (the bus device has aborted the SDO) the card then attempts to read
the corresponding value back and to compare it with the value that was to be written. This is because it
could, for instance, be a read-only value, and therefore already correctly configured within the bus device. If
they agree with one another, the card moves onto the next parameter entry.
2. Upload and download at runtime via ADS
It is possible to perform SDO accesses to the bus devices' object directories using Beckhoff's ADS
communication when the system is running. This is also possible from the PLC, from the NC, from the OPC
server, from ActiveX controls or from any other ADS device.
56 Version: 2.0 FC5101 and FC5102