Sdo Write Object; Canopen Communication; Canopen Introduction - WIKA MH-4-CAN Special Documentation

2. Quick start guide / 3. CANopen communication
CS Number of valid bytes
4Fh 1 (Byte4)
2 (Byte4 - Byte5)
4Bh
47h 3 (Byte4 - Byte6)
43h 4 (Byte4 – Byte7)

2.5.2 SDO write object

The SDO read object to write data to an dictionary entry:
Master transmits:
ID DLC Byte0 Byte1 Byte2 Byte3
600h + 8 CS
Node-ID
CS Number of valid bytes
2Fh 1 (Byte4)
2Bh 2 (Byte4 - Byte5)
27h 3 (Byte4 - Byte6)
23h 4 (Byte4 – Byte7)
MH-4 CAN replies:
ID DLC Byte0 Byte1 Byte2 Byte3
580h + 8 CS =
Node-ID 60h
Other values for CS than 60h are abort codes, indicating a failed SDO write (see 3.3).

3. CANopen communication

3.1 CANopen introduction

CANopen is a communication protocol using the CAN bus to provide sensor access and
measurements.
All CANopen data is stored in the CANopen dictionary. CANopen supports a couple of
different objects to access the object dictionary entries:
SDO (Service Data Object): Used to access any object of the object dictionary. Offers
■
read and write functionality. Usually used to indentify and configure the sensor.
WIKA special documentation, model MH-4-CAN
LSB MSB Subindex
Index
LSB MSB Subindex
Index
Byte4 Byte5 Byte6
LSB
Data
Byte4 Byte5 Byte6
00h 00h 00h
EN
Byte7
MSB
Byte7
00h
9