Sdos (Service Data Objects) - Siemens FDK:521H1134 Operating Manual

CANopen add-on module
7. SDOs (Service
Data Objects)

7. SDOs (Service Data Objects)

Service Data Objects are used to establish a peer-2-peer connection between two CANopen
devices. This kind of connection is based on a Client/Server mechanism.
The SDO server is the device that is serving the object dictionary to which the access is required.
The SDO client is the device that wants to access the object dictionary of a specific device.
The SDO service is based on two CAN messages with different identifiers. The SDO client uses
one message and the SDO server uses the second message.
There are three different methods for SDO down-/upload:
•
Expedited SDO transfer,
•
Normal (segmented) SDO transfer, and
•
SDO Block transfer. (Not supported)
Device type
Index Object name
1000h Device type
Error register
Index Object name
1001h Error Register
Manufacturer Device name
Index Object name
1008h Manufacturer
Device name
Manufacturer HW version
Index Object name
1009h Manufacturer
HW Version
Manufacturer SW version
Index Object name
100Ah Manufacturer
SW Version
Guard time
Index Object name
100Ch Guard Time
SFIDK.PS.023.A2.02
Access Type PDO
mapping
R U32 No
Access Type PDO
mapping
R U8 No
Access Type PDO
mapping
Const. U32 No
Access Type PDO
mapping
Const Vis. string No
Access Type PDO
mapping
Const. Vis. string No
Access Type PDO
mapping
R/W U16 No
Description
00 = No standardised device profile
Description
Always 00h
Description
MASS 6000 CANopen module
or MAG 6000 CANopen module
Description
3.0
Description
2.01 or greater
Description
Guard time in milliseconds
13