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1606218 02 08/2006
Examples of SDO Requests
Programmed
SDO Request:
Example 1
This example gives the program for reading object 1000H. After a request is made,
the data obtained is read in the table Diag0:120 (defined below).
Variables used and parameters of the function
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000H*)
Sub_index:=0; (*sub-index 0*)
IF Read_sdo THEN
(*clear control*)
Read_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Diag0:120:=16#FFFF; (*Clear diagnostics receive table*)
Status2:=0; (*Clear exchange report*)
Status3:=6; (*Time-out*)
Variable Type Description
Read_sdo Boolean Request launch bit.
Index Word Index of the object to poll (LSB of the double word
"Index_dw").
Sub-index Word Sub-index of the object to poll (MSB of the double
word "Index_dw").
Slave_add Word Address of the slave to poll.
Diag0:120 Word table Data exchange area.
Status0:4 Word table Control and exchange status words.
ADR#y.SYS Immediate value Master board address.
‘SDO’ Character string Type of SDO object (SDO always in upper case).
Index_dw Double word MSB = sub-index.
LSB = index.
Node_Id Word Word or value identifying the destination device
on the CANopen bus.