Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 10)

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4.3.3. Service data communication
The service data objects correspond to the standards of the CiA. It is possible to access an object via index
and subindex. The data can be requested or where applicable written into the object.
General information on the SDO
Structure of an SDO telegram:
COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
An SDO-COB ID is composed as follows:
Master -> Encoder
: 600h + Node ID
Encoder -> Master : 580h + Node ID
DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).
The command byte defines whether data is read or set, and how many data bytes are involved.
SDO command Description Data length
22h Download request Max. 4 Byte Transmits parameter to encoder
23h Download request 4 byte
2Bh Download request 2 byte
2Fh Download request 1 byte
60h Download response - Confirms receipt to master
40h Upload request - Requests parameter from encoder
42h Upload response Max. 4 byte Parameter to master with max. 4 byte
43h Upload response 4 byte
4Bh Upload response 2 byte
4Fh Upload response 1 byte
80h Abort message - Encoder signals error code to master
An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The object
and subindex are those of the requested object. The error code is contained in bytes 5
– 8.
ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
580h + Node ID 8 80h Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
Byte 8..5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:
05040001h : Command byte is not supported
06010000h : Incorrect access to an object
06010001h : Read access to write only
06010002h : Write access to read only
06020000h : Object is not supported
06090011h : Subindex is not supported
06090030h : Value outside the limit
06090031h : Value too great
08000000h : General error
08000020h : Incorrect save signature
08000021h : Data cannot be stored