Datalogic AMT58 Series Manual page 153

AMT58x-EC EtherCAT®
6.2.4 Service Data Objects (SDO)
SDO messages are issued via Mailbox (low priority data);
Segmented SDO Service and SDO Complete Access are not
supported (transfer of low size data and one sub-index at a time).
"CoE Cmd type" = 2 or 3
Structure of "Cmd specific data":
SDO
Index
control
8 bits 16 bits
SDO control standard CANopen SDO Service
Index parameter index
Sub index parameter sub-index
Data parameter value
Data optional optionally, more then 4 bytes of data can be sent in
one frame. Full mailbox size usable.
Index and sub-index values are described in the "Object dictionary".
44
Cmd specific data
Sub index
8 bits 32 bits
Data
Data
optional
1 ... 1470
bytes