Beckhoff CX1500-M510 Manual page 107

The same pair of identifiers is used for both upload and download. The telegrams, which are always 8 bytes
long, encode the various services in the first data byte. All parameters with the exception of objects 1008h,
1009h and 100Ah (device name, hardware and software versions) are only at most 4 bytes long, so this
description is restricted to transmission in expedited transfer.
Protocol
The structure of the SDO telegrams is described below.
Client -> Server, Upload Request
11 bit 8 bytes of user data
identifier
0x600 0x40 Index0
(=1536de
z) + node
ID
Parameters
Client -> Server, Upload Response
11 bit 8 bytes of user data
identifier
0x580 0x4x Index0
(=1408de
c) + node
ID
Parameters
Parameters whose data type is Unsigned8 are transmitted in byte D0, parameters whose type is Unsigned16
use D0 and D1.
The number of valid data bytes is coded as follows in the first CAN data byte (0x4x):
Number of param- 1
eter bytes
First CAN data byte 0x4F
CX1500-M510, CX1500-B510
Index1 SubIdx 0x00
Explanation
Index0 Index low byte (Unsigned16, LSB)
Index1 Index high byte (Unsigned16, MSB)
SubIdx Sub-index (Unsigned8)
Index1 SubIdx Data0
Explanation
Index0 Index low byte (Unsigned16, LSB)
Index1 Index high byte (Unsigned16, MSB)
SubIdx Sub-index (Unsigned8)
Data0 Data low low byte (LLSB)
Data3 Data high high byte (MMSB)
2
0x4B
Version: 1.0
0x00 0x00
Data1 Data2
3 4
0x47 0x43
Product overview
0x00
Data3
107