Read Sdo - TR-Electronic CANopen+Multi-Sensor LP-46-K Benutzerhandbuch

CANopen information

3.5.2 Read SDO

Initiate Domain Upload
Request Protocol format:
Byte
Contents Code
The Read SDO telegram has to be send to the slave.
The slave answers with the following telegram:
Response Protocol format:
Byte
Contents Code
Format Byte 0:
MSB
7
0
n = number of data bytes (bytes 4-7) that does not contain data
If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH".
If byte 0 = 80h the transfer has been aborted.
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Page 112 of 183
COB-Identifier = 600h + Node-ID
0 1 2
Index
40h Low High
COB-Identifier = 580h + Node-ID
0 1 2
Index
4xh Low High
6 5 4 3
1 0 0
TR - ELA - BA - DGB - 0016 - 04
Read SDO´s
3 4
Sub-
Data 0 Data 1 Data 2 Data 3
Index
Byte 0
Read SDO´s
3 4
Sub-
Data 0 Data 1 Data 2 Data 3
Index
Byte Data
LSB
2 1 0
n 1 1
5 6 7
0 0 0
5 6 7
Data Data Data
Printed in the Federal Republic of Germany
01/20/2017