10.10 Sdo Object Directory - Leuze electronic MSI 400 Series Manual

Example: The following messages are required to read SDO 1003,1 of the CANopen device with device
address 2. The data type of the data to be read is UDINT.
The client sends:
CAN ID DLC
602h 8
The server responds:
CAN ID DLC
582h 8
The combined response data result in the 32-bit word 02500008h.

10.10 SDO object directory

Each CANopen device manages its SDOs in an object directory. The complete
object directory is formally described in an EDS file. Many CANopen tools can ready this EDS file and
therefore know the object characteristics of the CANopen device.
The following table shows all SDOs for the MSI-FB-CANOPEN gateway.
Tab. 10.24: Supported SDOs
SDO #
1000
1001
1003
1005
1008
1009
100A
100C
100D
1016
1017
1018
1027
1400...1403
1600...1603
1800...1803
1A00...1A03
3100
3200
3300
6000
6200
You will find more detailed information about these SDOs in the CANopen standard draft DS 301 V4.02
(DSP 301 V4.1).
Leuze electronic
Data
40h 03h 10h
Data
42h 03h 10h
Type
Device type
Error register
Error list (error history)
COB ID SYNC
Device name
Hardware version
Software version
Guard Time
Life Time Factor
Consumer Heartbeat Time
Producer Heartbeat Time
Identification
Module list
Communication parameter for RxPDO 1 ... 4
Mapping parameter for RxPDO 1 ... 4
Communication parameter for TxPDO 1 ... 4
Mapping parameter for TxPDO 1 ... 4
Module status bits
Config-CRC
Module type code
Process data input objects
Process data output objects
MSI 400
01h 00h 00h
01h 08h 00h
CANopen gateway
00h 00h
50h 02h
132