CANopen SDO Commands
Original instructions
Overview
WRITE_SDO and READ_SDO objects are used to send NMT commands. The SDO abort code is used when the SDO command is not successful.
WRITE_SDO Command
This table shows the header of the WRITE_SDO command:
Value (hex)
CIP generic message parameter
65
Class ID
40
Service Number
1
Instance
x
Length
This table shows the command data and the response data for the WRITE_SDO:
Value
Size
Parameter
Command data
0: PLC
1...4: DTM
SINT
Connect ID
[1...127]
SINT
Node ID
User defined
INT
Index
User defined
SINT
Subindex
[1...255]
INT
Length
User defined
SINT[...]
Data
Positive response data
[1...127]
SINT
Node ID
User defined
INT
Index
User defined
SINT
Subindex
0
INT
Status
Negative response data
[1...127]
SINT
Node ID
User defined
INT
Index
User defined
SINT
Subindex
SINT
Status
See table
SINT[4]
SDO abort code
READ_SDO Command
This table shows the header of the READ_SDO command:
Value (hex)
CIP generic message parameter
65
Class ID
41
Service Number
1
Instance
x
Length
This table shows the command data and the response data for the READ_SDO:
Value
Size
Parameter
Command data
0: PLC
1...4: DTM
SINT
Connect ID
[1...127]
SINT
Node ID
User defined
INT
Index
User defined
SINT
Subindex
[1...255]
INT
Length
Positive response data
[1...127]
SINT
Node ID
User defined
INT
Index
User defined
SINT
Subindex
0
INT
Status
User defined
INT
Length
Value requested
SINT[...]
Object value
Negative response data
0x2B
SINT
Node ID
User defined
INT
Index
User defined
SINT
Subindex
SINT
Status
See table
SINT[4]
SDO abort code