User Manual

Baumer_GIM500R_CANopen_MA_EN.docx 9/29 www.baumer.com
03.19
Byte 8..5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:
05040001h : Command byte is not supported
06010000h : Incorrect access to an object
06010001h : Read access to write only
06010002h : Write access to read only
06020000h : Object is not supported
06090011h : Subindex is not supported
06090030h : Value outside the limit
06090031h : Value too great
08000000h : General error
08000020h : Incorrect save signature
08000021h : Data cannot be stored
SDO examples
Request of the resolution value by the master from the slave
A frequent request will be a request for the resolution.  Object 6000h
COB ID
DLC
Command
Object L
Object H
Subindex
Data 0
Data
1
Data
2
Data
3
600h+node ID
8
40h
00h
60h
0
x
x
x
x
Response by the slave to the request for a value
The resolution is 2 bytes long, the precise values can be found under object 6000h.
COB ID
DLC
Command
Object L
Object H
Subindex
Data 0
Data
1
Data
2
Data
3
580h+node ID
8
4Bh
00h
60h
0
a
b
c
d
Writing of a value by the master into the slave
Inclination setting can be performed with preset for longitudinal slope.  Object 6012h
COB ID
DLC
Command
Object L
Object H
Subindex
Data 0
Data
1
Data
2
Data
3
600h+node ID
8
2Bh
12h
60h
0
a
b
c
d
Slave's response to the writing of a value
COB ID
DLC
Command
Object L
Object H
Subindex
Data 0
Data
1
Data
2
Data
3
580h+node ID
8
60h
12h
60h
0
0
0
0
0