WAGO -I/O-SYSTEM 750 Technical Description page 85

4.3.1.2.1 SDO Protocol
A specific protocol overhead that is indispensable for transmission and con-
tains the command specifier, the index and the sub-index of the entry to be
read/written.
4.3.1.2.1.1 General Design
Client
Client
Fig. 4-3: SDO Protokoll
4.3.1.2.1.2 Download SDO Protocol
This protocol is used to write data from the master into the bus coupler.
4.3.1.2.1.2.1 Initiate SDO Download
This protocol is used to initiate the data transmission from the master to the
bus coupler. When transmitting data of max. 4 bytes, these are also transmitted
within the protocol.
WAGO-I/O-SYSTEM 750
CANopen
Receive Service Data Object (RxSDO)
COB-ID = 1536 + Module ID
0 1 2
Command Index Index
Low Byte High Byte
specifier
Transmit Service Data Object (TxSDO)
COB-ID = 1408 + Module ID
0 1 2
Command Index Index
specifier Low Byte High Byte
CANopen
Network Communication
3 4 8
Sub
Data
Index
3 4 8
Sub
Data
Index
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Server
Server
g012405x