WIKA D-21-9 - Manual (Page 7)

D-20-9 / D-21-9 GB
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 7
2. Service Data Object (SDO)
With Service Data Objects the access to entries of a device’s object dictionary is provided.
Read Object
Master sends
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
LSB MSB
600h
+
Node-ID
8
CS =
40h
Index
Sub-
Index
00h 00h 00h 00h
Transmitter answers
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
LSB MSB LSB MSB
580h
+
Node-ID
8
CS =
42h
Index
Sub-
Index
Data
Write Object
Master sends
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
LSB MSB LSB MSB
600h
+
Node-ID
8
CS =
22h
Index
Sub-
Index
Data
Transmitter answers
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
LSB MSB
580h
+
Node-ID
8
CS =
60h
Index
Sub-
Index
00h 00h 00h 00h
Abort SDO Transfer
If an error occurred while reading or writing an object, the transmitter answers:
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
LSB MSB LSB MSB
600h
+
Node-ID
8
CS =
80h
Index
Sub-
Index
Abort Code
Abort Codes
0504 0001h Client/server command specifier not valid or unknown
0601 0001h Attempt to read a write only object
0601 0002h Attempt to write a read only object
0602 0000h Object does not exist in the object dictionary
0606 0000h Access failed due to an hardware error
0609 0011h Sub-index does not exist
0609 0030h Value range of parameter exceeded
0800 0020h Data cannot be transferred or stored to the application