Baumer GNAMG - Manual (Page 8)

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3.3.3. Service data communication
Service data objects are conform to CiA standards. A certain object is accessed by index and subindex. There
are data requests or, if required, data are written into the object.
General information on SDOs
SDO telegram structure:
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
A SDO-COB-ID is composed as follows:
Master -> inclination sensor : 600h + Node-ID
Inclination sensor -> master : 580h + Node-ID
DLC (Data length code) defines the length of a telegram with following structure:
1 byte command + 2 bytes object + 1 byte subindex + number of data bytes (0..4).
The command byte specifies whether data are write or read only and how many data bytes are involved:
SDO command Meaning Data length
22h Download Request max. 4 Byte transmit parameter to inclination sensor
23h Download Request 4 Byte
2Bh Download Request 2 Byte
2Fh Download Request 1 Byte
60h Download Response - confirm download to master
40h Upload Request - request parameter upload from inclination
sensor
42h Upload Response max. 4 Byte parameter to master, max. 4 bytes
43h Upload Response 4 Byte
4Bh Upload Response 2 Byte
4Fh Upload Response 1 Byte
80h Abort Message - Inclination sensor gives error code to
master
Abort Message means an error in CAN communication. SDO command byte is 80h. Object and subindex are
those of the requested objects. The error code is in bytes 5..8.
ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
580h + Node-ID 8 80h Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
Byte 8..5 composes the SDO abort message (Byte 8 = MSB).
The following messages are supported:
05040001h : command byte not supported
06010000h : incorrect access to an object
06010001h : Read access to write only
06010002h : Write access to read only
06020000h : Object not supported
06090011h : Subindex not supported
06090030h : Value is not within the defined limits
06090031h : Value too high
08000000h : General error
08000020h : Incorrect memory signature ("save")
08000021h : No data saving possible