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Service data object (sdo), Read object, Write object – WIKA D-21-9 User Manual

Page 7: Abort sdo transfer, Abort codes

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D-20-9 / D-21-9

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WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9

7

2. Service Data Object (SDO)

With Service Data Objects the access to entries of a device’s object dictionary is provided.

Read Object

Master sends

ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

LSB

MSB

600h

+

Node-ID

8

CS =

40h

Index

Sub-

Index

00h

00h

00h

00h

Transmitter answers

ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

LSB

MSB

LSB

MSB

580h

+

Node-ID

8

CS =

42h

Index

Sub-

Index

Data

Write Object

Master sends

ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

LSB

MSB

LSB

MSB

600h

+

Node-ID

8

CS =

22h

Index

Sub-

Index

Data

Transmitter answers

ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

LSB

MSB

580h

+

Node-ID

8

CS =

60h

Index

Sub-

Index

00h

00h

00h

00h

Abort SDO Transfer

If an error occurred while reading or writing an object, the transmitter answers:

ID

DLC

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

LSB

MSB

LSB

MSB

600h

+

Node-ID

8

CS =

80h

Index

Sub-

Index

Abort Code

Abort Codes

0504 0001h

Client/server command specifier not valid or unknown

0601 0001h

Attempt to read a write only object

0601 0002h

Attempt to write a read only object

0602 0000h

Object does not exist in the object dictionary

0606 0000h

Access failed due to an hardware error

0609 0011h

Sub-index does not exist

0609 0030h

Value range of parameter exceeded

0800 0020h

Data cannot be transferred or stored to the application

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