User Manual

POSI+ CANOPEN USER MANUAL
Page 10 Version 1.02
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Index / Sub-index
Data is trans mitted solel y using objects referenced by i ndex. The objects are si mple or compo sed
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 stand ard object dictionary is shown in the following table:
Index (hex) Object
0000 Not us ed
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