ADF Web axis HD67503-A1 User Manual page 27

Industrial Electronic Devices
S
DO
The transmission of SDO is very simple: it has a fixed structure that consist in a maximum of eleven bytes.
The Number of byte of frame to send (Byte 7) can have three values:
•
0x01: Send one byte;
•
0x02: Send two byte;
•
0x04: Send four byte.
The Byte that compose the respons are this:
Example:
We want to write:
•
Address of CANopen device: 0x14; Type of Data: SDO; Index: 0x2000; SubIndex: 0x01; Number of byte of frame to send: 2;
Data: 0x1122
So the string of hexadecimal numbers is:
REQ:[02][02][14][20][00][01][02][11][22]
RES:[01]
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Byte Number Description
1 Write Identifier (Write=0x02)
2 Type of Data (SDO=0x02)
3 Address of CANopen device connect to the HD67503
4 Index SDO Hi
5 Index SDO Lo
6 SubIndex SDO
7 Number of byte of frame to send (n)
8÷n+7 Data
Byte Number Description
Ok=0x01 /
1
sending=0x03
User Manual CANopen / Ethernet
Document code: MN67503_ENG
Parameter Error=0x02 / Error
Revision 2.100 Page 27 of 33
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