Sdo Obj Mapping - DEUTSCHMANN AUTOMATION UNIGATE CX-EtherNet/IP 2Port CANopen Manual

Deutschmann Automation GmbH & Co. KG Implemented protocols in UNIGATE® CX C4Map

7.1.2.10 SDO Obj Mapping

SDO transmission via a "window" in the fieldbus (FB). The following fixed data record structure is
used in the FB, which is mapped into the FB data from the FB index. A distinction is made bet-
ween:
FB-Idx (In) = data from the FB master (PLC) to the UNIGATE
FB-Idx (Out) = data on the FB master (PLC) from the UNIGATE
The user must ensure that enough space is reserved in the FB data for the longest data record.
SDO transmission is always initiated by the FB master and is ended when the job number in the
FB output data is identical to the job number in the FB input data.
Data record structure (FB input = data from FB master):
Data record structure (FB output = data on the FB master):
Beispiel:
In this example FB-Idx (In) und FB-Idx (Out) = 8
Please note:
The counting starts with index "0" = 1st byte, i. H. in our example the "8" corresponds to the 9th
byte!
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We want to query the manufacturer hardware version of a connected CANopen slave (object
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index 1009h). The CANopen slave has the node ID = 5.
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29.9.20 Fieldbus-Gateway UNIGATE CX EtherNet/IP - C4Map V. 1.0 19