ECM appsCAN Module Instruction Manual page 39

4.0 Reading from the appsCAN Module (SDO Read)
During configuration, it may be necessary to read certain locations in the Object Dictionary
(OD). This can be done with a Service Data Object (SDO) Read. The format for a (SDO
Read) is as follows:
byte 0
SDO Read Tx
CAN id
0x600+NID
OD lo = low byte of OD address
OD hi = hi byte of OD address
Sub = Subindex of OD address
A SDO Read will generate the following reply:
SDO Read Rx byte 0
CAN id
0x580+NID
Size = 0x4F (1 byte response)
0x4B (2 byte response)
0x43 (4 byte response)
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 present at the OD address.
Example: Read OD address 0x5008 subindex 0x32 in the module with NID = 0x10.
byte 0
SDO Write Tx
CAN id
0x610
The module will reply as follows:
SDO Write Rx byte 0
CAN id
0x590 0x4B
OD address 0x5008, subindex 0x32 of the module with NID = 0x10 contains the 2 byte value
0x2BC.
byte 1 byte 2
0x40 OD lo OD hi
byte 1 byte 2
Size OD lo OD hi
byte 1 byte 2
0x40 0x08 0x50
byte 1 byte 2
0x08 0x50
byte 3 byte 4 byte 5
Sub
byte 3 byte 4 byte 5
Sub Data0 Data1
byte 3 byte 4 byte 5
0x32
byte 3 byte 4 byte 5
0x32 0xBC 0x02
byte 6 byte 7
byte 6 byte 7
Data2 Data3
byte 6 byte 7
byte 6 byte 7
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