ECM appsCAN Module Instruction Manual page 38

3.0 Writing to the appsCAN Module (SDO Write)
Configuration of the appsCAN module is performed by writing to the Object Dictionary
(OD) and by issuing ECM CANopen OS Commands (OS Command). Both of these actions
are implemented using a Service Data Object Expedited Write (SDO Write). The format is as
follows:
SDO Write Tx byte 0
CAN id
0x600+NID
Size = 0x2F (1 byte write)
0x2B (2 byte write)
0x23 (4 byte write)
OD lo = low byte of OD address
OD hi = hi byte of OD address
Sub = Subindex of OD address
Data0 always contains the Least Significant Byte (LSB) of the data to be written to the OD.
A SDO Write will generate the following reply:
SDO Write Rx byte 0
CAN id
0x580+NID 0x60
Example: Write a 2 byte integer = 0x204 to OD address 0x5017 subindex 0 in the module
with NID = 0x10.
SDO Write Tx byte 0
CAN id
0x610 0x2B
The module will reply as follows:
SDO Write Rx byte 0
CAN id
0x590 0x60
34
byte 1 byte 2
Size OD lo OD hi
byte 1 byte 2
OD lo OD hi
byte 1 byte 2
0x17 0x50
byte 1 byte 2
0x17 0x50
byte 3 byte 4 byte 5
Sub Data0 Data1
byte 3 byte 4 byte 5
Sub
byte 3 byte 4 byte 5
0x00 0x04 0x02
byte 3 byte 4 byte 5
0x00
byte 6 byte 7
Data2 Data3
byte 6 byte 7
byte 6 byte 7
byte 6 byte 7