ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 69)

ƒ Entry description:
Sub-index 0
Description Number of error classes
Entry category Mandatory
Access Read only
PDO mapping No
Value range 1 to 0xFE
Default value 1
Sub-index 1
Description Communication error
Entry category Mandatory
Access Read/Write
PDO mapping No
Value range UNSIGNED8
Default value 1
Object 0x1200: SDO server parameter
This object is used to describe the SDO used on a device. The data type has the index 22h
in the object dictionary. The number of supported entries in the SDO object record is
specified by sub-index 0h. The values at 1h and 2h specify the COB-ID for this SDO.
Sub-index 3 gives the server of the SDO if the record describes an SDO for which the
device is a client, and it gives the client of the SDO if the record describes an SDO for
which the device is the server. The structure of the SDO COB-ID entry is as follows:
MSB LSB
Bits 31 30 29 28 - 11 10 - 0
11-bit ID 0/1 0 0 000000000000000000 11-bit identifier
29-bit ID 0/1 0 1 29-bit identifier
ƒ Description of SDO COB-ID entry:
Bit Number Value Meaning
31 (MSB) 0
1 SDO exists / is valid
SDO does not exist / is invalid
30 0 Reserved (always 0)
29 0
1
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
28 - 11 0
X If bit 29 = 0
If bit 29 = 1: bits 28 - 11 of 29-bit SDO COB-ID
10 - 0 (LSB) X Bits 10 - 0 of SDO COB-ID
CANopen DS 301 Implementation Guide Device-specific Objects
MAN-CAN301IG (Ver. 2.1)
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