Lenze Function library CANopenSdoDrv - Manual (Page 8)

Function library "CANopenSdoDrv"
Basics - Service Data Objects (SDOs)
SDO services
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DMS 1.0 EN - 07/2011 - TD05
3.2 SDO services
The following services can be used for SDOs:
SDO download
With this service, the SDO client transfers data to the SDO server. The SDO client reports to
the SDO server which and how much data is to be transmitted to which address (index,
subindex). This service is acknowledged by the SDO server.
The SDO download consists at least of the following services:
 Initialisation:
SDO client prepares SDO server for download.
 Segmented download:
SDO client transmits the data segments to the SDO server.
(Optional, only if the data size is > 4 bytes.)
SDO upload
With this service, the SDO server transfers data to the SDO client. The SDO client reports to
the SDO server which address (index, subindex) is to be used to upload the data.
The SDO upload consists at least of the following services:
 Initialisation:
SDO client prepares SDO server for upload.
 Segmented upload:
SDO server transmits the required data segments to the SDO client.
(Optional, only if the data size is > 4 Byte.)
SDO abort
Abort of the SDO transfer. The reason for the abort is given optionally.