Baumer BA_DSRT_22DJ - Handbuch (Seite 28)

Manual_CANopen_StrainLink_EN_V3_05.doc 28/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
5.4 SDO-Struktur
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
- 8 CMD Index Sub-index Data bytes
Procedure CMD Remarks
Master request data from slave 40h
42h (valid data bytes not specified)
43h (4 valid data bytes)
47h (3 valid data bytes)
4Bh (2 valid data bytes)
Slave responds
4Fh (1 valid data bytes)
22h (valid data bytes not specified)
23h (4 valid data bytes)
27h (3 valid data bytes)
2Bh (2 valid data bytes)
Master writes to slave
2Fh (1 valid data bytes)
Slave responds 60h
In index and data bytes, the lowest byte is transmitted first. In ASCII code the bytes will be transferred legible
(first character first).
The range of the communication profile is in the indices 1000h-1FFFh and includes all parameters which
concern the CAN network. This range is defined in the same way in all CANopen devices.
The minimum time difference between two SDO messages must not be less than 20ms. Faster SDO
communication can put the device into undefined states.