Starting The Device; Service Data Object (Sdo); Sdo Read Object - WIKA MH-4-CAN Special Documentation

2. Quick start guide

2.4 Starting the device

The configured device must now be started by the master:
In order to send PDO-messages the sensor has to be set to OPERATIONAL mode
■
Master transmits:
EN
ID
00h
(0 = all nodes)
The sensor is now in OPERATIONAL mode
Depending on the previous selected transmission type the master needs to send the
■
SYNC object:
Master transmits:
ID
80h
The received data now looks like (depending on configuration):
ID
180h +
Node-ID
This data is called TPDO.

2.5 Service Data Object (SDO)

2.5.1 SDO read object

The SDO read object to read an dictionary entry:
Master transmits:
ID DLC Byte0 Byte1 Byte2 Byte3
600h + 8
Node-ID
MH-4 CAN replies:
ID DLC Byte0 Byte1 Byte2 Byte3
580h + 8
Node-ID
8
DLC Byte0
2 01h
DLC
0
DLC Byte0
5
CS = LSB
40h
Index
CS LSB
Index
Byte1
Node-ID
Byte1 Byte2
6130h subindex 1
Byte4
MSB Subindex 00h
Byte4
MSB Subindex LSB
WIKA special documentation, model MH-4-CAN
Byte3 Byte4
6150h
subindex 1
Byte5 Byte6 Byte7
00h 00h 00h
Byte5 Byte6 Byte7
MSB
Data