Data Sheet

CANopen Interface
184 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
The Response from the roboteq device is as shown below:
Header DLC
Payload
Byte0
Byte1-2 Byte 3 Bytes4-7bits 4-7 bits2-3 bits0-1
0x580+nd 8 css n xx index subindex Data
• nd is the source node id.
• ccs is the Client Command Specifier, if 4 it is query response, 6 it is a successful
response to command, 8 is an error in message received.
• n is the Number of bytes in the data part, which do not contain data
• xx not necessary for the simplistic way. For more details advise CANOpen standard.
• index is the object dictionary index of the data to be accessed.
• subindex is the subindex of the object dictionary variable
• data contains the data to be uploaded. Applicable only if css=4.
SDO Example 1: Set Encoder Counter 2 (C) of node 1 value 10
• nd = 1, since the destination’s node id is 1.
• ccs = 2, since it is a command.
• n = 0 since all 4 bytes of the data are used (signed32).
• index = 0x2003 and subindex = 0x02 according to object dictionary.
Header DLC
Payload
Byte0
Byte1-2 Byte 3 Bytes4-7bits 4-7 bits2-3 bits0-1
0x600+1 8 2 0 0 0x2003 0x02 0x0A
601h 8 20 03 20 02 0A 00 00 00
The respective response will be:
Header DLC
Payload
Byte0
Byte1-2 Byte 3 Bytes4-7bits 4-7 bits2-3 bits0-1
0x580+1 8 6 0 0 0x2003 0x02 0x00
581h 8 60 03 20 02 00 00 00 00
SDO Example 2: Activate emergency shutdown (EX) for node 12
• nd = 12, since the destination’s node id is 12.
• ccs = 2, since it is a command.
• n = 3 since only one byte of the data is used (unsigned8).
• index = 0x200C and subindex = 0x00 according to object dictionary.