West Control Solutions KS98-1 - Manual (Page 195)

III-14.3 CSDO (CAN-SDO function (No. 92))
Function CSDO permits access to the CAN bus by means of SDOs (Service Data Objects). SDOs are used for asynchron-
ous data exchange without real-time inquiry.
Transmission started by the trigger input is always confirmed by the receiver, possibly during data inquiry along with
value transmission. Reception of the confirmation is indicated by a logic 1 at the “ready” output. A new command can
be generated via the positive flank at trig only with “1” indicated by the “ready” output.-
Data required for command generation can be adjusted as parameters or connected as values to the inputs. As soon
as a connection at an input was made, the relevant parameter looses its function. In this case, the value applied to the
input is valid. Data (command) addressing in the connected instrument is done via indexes (index / sub-index), which is
described in the CAN instrument documentation.
A value to be transmitted is connected to X1writ (or parameter “value”). A received value is output at Y1read. Y1read
is set to 0 after power-on, after an error ( “err” = 1 ) and after a data output.
With RM modules provided in the KS 98-1 engineering, and for addressing the same nodes also via a CSDO block , the
trigger should be interlocked with the valid bit of the RM-200 block. During access to RM nodes which are handled al -
ready by KS 98-1 in the background, there may be start-up collisions the consequences of which are removed only by
restarting KS 98-1.
a
Important note: The heart beat protocol is not supported. If an instrument can be operated only via “heart
beat”, the guarding function must be switched off.
9499-040-82711 Description of KS 98-1 CAN bus extension
CSDO (CAN-SDO function (No. 92)) III-195