2 initiate sdo download protocol, 3 download sdo segment protocol, 4 initiate sdo upload protocol – BECKHOFF AX2000 CANopen communication profile User Manual
Page 22: 5 upload sdo segment protocol, Initiate sdo download protocol, Download sdo segment protocol, Initiate sdo upload protocol, Upload sdo segment protocol, Beckhoff
To write data, the control byte must be written in the manner shown below:
Client
Initiate Domain Download
Server
Byte 1
2
3
4
5
6
7
8
request
7
6
5
4
3
2
1
0
indication
Þ
ccs=1
X
n
e
s
m
d
Þ
ÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞ
ÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜ
Ü
Byte 1
2
3
4
5
6
7
8
Ü
confirm
7
6
5
4
3
2
1
0
response
scs=3
X
m
reserved
2.
Index (Bytes 2 and 3):
The Index is the main entry in the Object Dictionary, and divides the parameters into
groups. (Example: Index 2022
h
is position data for the Position mode).
As for all CAN data, the Index is stored with the bytes in reverse order.
E.g. Index 6040
h
means Byte 2 = 40
h
, Byte 3 = 60
h
)
3.
Sub-index (Byte 4):
The Sub-index divides the parameters within a group of parameters.
4.
Data field (Bytes 5 ... 8):
These components are used for the exchange of user data. In read-request
telegrams to the AX2000/2500 they are set to 0. They have no content in a
write confirmation from the AX2000/2500 if the transfer was successful, but
if the write operation was faulty they contain an error code (
3.4.5.2
Initiate SDO Download Protocol
The Initiate SDO Download protocol is used for write access to Objects with up to 4 bytes of user
data (expedited transfer) or to initiate a segment transfer (normal transfer).
Expedited transfer is also used for Objects that only have the character of a command (e.g. ASCII:
SAVE) and thus do not require any further user data.
3.4.5.3
Download SDO Segment Protocol
The Download SDO Segment protocol is used for write access to Objects with more than 4 bytes of
user data (normal transfer). This service is not supported by AX2000/2500 at present, since there
are no Objects that make use of more than 4 bytes of user data.
3.4.5.4
Initiate SDO Upload Protocol
The SDO Upload protocol is used for read access to Objects with up to 4 bytes of user data (expe-
dited transfer) or to initiate a segment transfer (normal transfer).
3.4.5.5
Upload SDO Segment Protocol
The Upload SDO Segment protocol is used for read access to Objects with more than 4 bytes of
user data (normal transfer). This service is not supported by AX2000/2500 at present, since there
are no Objects that make use of more than 4 bytes of user data.
22
CANopen for AX2000/2500
CANopen communication profile
07/2007
BECKHOFF