BEI Sensors THK5 - Manual (Page 10)

POSI+ CANOPEN USER MANUAL
Page 10 Version 1.02
BEI IDEACOD SAS
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Index / Sub-index
Data is transmitted solely using objects referenced by index. The objects are simple or composed
type. In this case, the index associated to the composed object will be subdivided into several
sub-index.The number of sub-index is specified into subindex 0, it can be from 1 to 254. Each
object is described into a object dictionary.
The organization of a standard object dictionary is shown in the following table:
Index (hex) Object
0000 Not used
0001-001F Static data types
0020-003F Complex data types
0040-005F Manufacturer specific data types
0060-0FFF Reserved
1000-1FFF Communication area (see Communication profile objects 1000h to 1FFFh (DS301)
2000-5FFF Manufacturer specific area (see Manufacturer-specific Zone Objects 2000h to 5FFFh)
6000-9FFF Device profile specific area (see Hardware Profile objects 6000h to 0FFFh (DS406)
A000-FFFF Reserved
SDO examples
Request of a value by the master from the slave
A frequent request will be a request for position Object 6004h
COB-ID Command Index Sub Index Service Data (Parameters)
600h+node ID 40h 04h 60h 00h X X X X
Response by the slave to the request for a value
The position is 4 bytes long, the precise values can be found under object 6004h.
COB-ID Command Index Sub Index Service Data (Parameters)
580h+node ID 43h 04h 60h 00h Pos0 Pos1 Pos2 Pos3
Writing of a value by the master into the slave
Position setting can be performed with preset. Object 6003h
COB-ID Command Index Sub Index Service Data (Parameters)
600h+node ID 22h 03h 60h 00h Pre0 Pre1 Pre2 Pre3
Slave’s response to the writing of a value
COB-ID Command Index Sub Index Service Data (Parameters)
580h+node ID 60h 03h 60h 00h 0 0 0 0