Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 107)

Logic Controller Program Example F-7
20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Figure F.9 Function Calls of SDO_READ and SDO_WRITE
For more information on these functions refer to SDO access in “CiA Draft
Standard 405 CANopen Interface” and “Device Profile for IEC 61131-1
Programmable Devices.