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		CANopen • 131
		Network Communication

d:	data	e = 0, s = 0: d is reserved for further use of CiA
		e = 0, s = 1: d contains the number of bytes for
		download
		Byte 4 contains the LSB and Byte 7 contains the
		MSB.
		e = 1: d contains the data
X:		Not used, always 0
reserved:		Reserved for further use of CiA

5.3.1.2.1.3.2Upload SDO Segment

This protocol is used if more than 4 data is transmitted, i.e. this follows after fully processing the „Initiate Upload Protocol" which initiates the data transmissions.

	Upload SDO Segment
Client	Server

	0				1	8
request							indication
request		.7 .6 .5	.4	.3	.2 .1 .0		indication
		.7 .6 .5	.4	.3	.2 .1 .0
		ccs = 3	t		x	reserved
						reserved

	Upload SDO Segment
Client	Server

	0					1		8
confirm									response
confirm		.7 .6 .5	.4	.3	.2	.1	.0		response
		.7 .6 .5	.4	.3	.2	.1	.0
		scs = 0	t		x		c	Segment data
								Segment data

Fig. 5-11: Upload SDO Segment		g012411x
ccs:	Client command specifier	3: download segment request
scs:	Server command specifier	0: download segment response
t:	Toggle bit	This bit has to change for each segment for
		which an upload is made. The toggle bit has to
		be zeroed for the first segment. The toggle bit is
		identical both for the enquiry and the reply.
c:	Indicates whether further	0: there are more segments to be uploaded
	segments are present for the
	upload

1:there are no more segments for uploading

WAGO-I/O-SYSTEM 750

CANopen

132 • CANopen

Network Communication

seg-data: Contains the data to be transmitted.

The meaning of the data is determined by the application.

Displays the number of bytes which do not contain data. Bytes [8-n, 7] do not contained data. N is 0 if no segment size is displayed.

X:	Not used, always 0
reserved:	Reserved for further use of CiA

5.3.1.2.1.4Abort SDO Transfer

This protocol is used in the event of errors occurring during transmission.

	Abord SDO Transfer
Client	Server

	0			1	4	8
request							indication
request		.7 .6 .5	.4 .3 .2	.1 .0			indication
		.7 .6 .5	.4 .3 .2	.1 .0
		cs = 4	x		m	Data
						Data

Fig. 5-12: Abort SDO Transfer		g012412x
cs:	command specifier	4: abort domain transfer
m:	multiplexor	Index and Sub-Index of Object directory:
X:		Not used, always 0
Data	4 Byte Error Code	Application specific data about the reasons for
		the abort.

Supported Abort Domain Transfer Messages

Structure:

Byte		Meaning
0	Command Specifier; 0x80
1		Index
2		Index
2
3		SubIdx
4		Additional Code
5		Additional Code
5

6Error Code

7Error Class

WAGO-I/O-SYSTEM 750

CANopen

CANopen • 133

Network Communication

Via Additional Code, Error Code and Error Class the following Errors are coded as UNSIGNED32:

Byte 4	5	Byte 6	Byte 7
Additional		Error	Error		Meaning
Code		Code	Class
05	03	00	00	Toggle bit not alternated
05	04	00	00	SDO protocol timed out
05	04	00	01	Client/server command specifier not valid or unknown
05	04	00	02	Invalid block size (block mode only)
05	04	00	03	Invalid sequence number (block mode only)
05	04	00	04	CRC error (block mode only)
05	04	00	05	Out of memory
06	01	00	00	Unsupported access to an object
06	01	00	01	Attempt to read a write only object
06	01	00	02	Attempt to write a read only object
06	02	00	00	Object does not exist in the object dictionary
06	04	00	41	Object cannot be mapped to the PDO
06	04	00	42	The number and length of the objects to be mapped would exceed
					PDO length
06	04	00	43	General parameter incompatibility reason
06	04	00	47	General internal incompatibility in the device
06	06	00	00	Access failed due to an hardware error
06	07	00	10	Data type does not match, length of service parameter does not
					match
06	07	00	12	Data type does not match, length of service parameter too high
06	07	00	13	Data type does not match, length of service parameter too low
06	09	00	11	Sub-index does not exist
06	09	00	30	Value range of parameter exceeded (only for write access)
06	09	00	31	Value of parameter written too high
06	09	00	32	Value of parameter written too low
06	09	00	36	Maximum value is less than minimum value
08	00	00	00	general error
08	00	00	20	Data cannot be transferred or stored to the application
08	00	00	21	Data cannot be transferred or stored to the application because of
					local control
08	00	00	22	Data cannot be transferred or stored to the application because of
					the present device state
08	00	00	23	Object dictionary dynamic generation fails or no object dictionary is
					present (e.g. object dictionary is generated from file and generation
					fails because of an file error)

5.3.1.2.2 SDO Examples

The following are 4 SDO examples, the data is being displayed in hexadecimal. These examples show the handling of SDOs on the CAN message level and can be used if the SDO protocol is to be implemented on a CAN card.

A message is subdivided into 4 columns:

1. column	Direction	M->BC = message is sent by the master to the bus coupler.
		BC->M = message is sent by the bus coupler to the master.
2. column	CAN Identifier
3. column	Frame Type	D = Data frame
		R = RTR frame

WAGO-I/O-SYSTEM 750

CANopen

134 • CANopen

Network Communication

4. column Data	Data bytes of the CAN message
	A maximum of 8 data bytes can be transmitted in a CAN mes-
	sage. The individual bytes are separated by spaces. Entries
	having the value XX have no meaning, but must be existing.
	The values should be zeroed for a better understanding.
	Entries in the reply from the bus coupler having the value DD
	contain data, which are dependent on the configuration.

5.3.1.2.2.1Example 1:

Read Index 0x1000 Sub-Index 0; Device Type

Index 0x1000 returns 4 bytes. The expedited transfer mode is used for transmission.

Direction	CAN Id	Frame Type	Data byte 0-7
M->BK	0x601	D	0x40	00 10 00 XX XX XX XX

BK->M	0x581	D	0x43	00 10 00 91 01 DD 00

Result:

Data bytes 4 and 5: 91 01 Sequence Low Byte, High Byte rotation: 0x0191 = 401 Device Profile Number

Data bytes 6 and 7: DD 00 Sequence Low Byte, High Byte rotation

5.3.1.2.2.2Example 2:

Read Index 0x1008 Sub-Index 0; Manufacturer Device Name

Index 0x1008 returns more than 4 bytes. The normal transfer mode is used for transmission in which case 2 messages per mode are transmitted.

Direction	CAN Id	Frame Type	Data byte 0-7
M->BK	0x601	D	0x40	08 10 00 XX XX XX XX

BK->M	0x581	D	0x41	08 10 00	07 00 00 00

M->BK	0x601	D	0x60 XX XX XX XX XX XX XX

BK->M	0x581	D	0x01	37 35 30	2D 33 38 37

Result:

The first reply from the bus coupler informs the master of the number of data to be transmitted (0x00000007 Byte). In the second message, the bus coupler supplies the article number in the ASCII format (hex representation)

„750-837“.

WAGO-I/O-SYSTEM 750

CANopen

CANopen • 135

Network Communication

5.3.1.2.2.3Example 3:

Read Index 0x6000 Sub-Index 1; First 8 bit digital input block

The signals of the digital input modules are saved in index 0x6000. 8 bits each are assigned to a group and can be read as from sub index 1. In this example, the input value of the first 8 bit group is read via an SDO message.

Direction	CAN Id	Frame Type
M->BK	0x601	D	0x40 00 60 01 XX XX XX XX

BK->M	0x581	D	0x4F 00 60 01 02 XX XX XX

Result:

In the 5th byte of the CAN message, the bus coupler returns the status of the first group of 8 bits. In this case the 2nd bit is set. Bytes 5-7 are without meaning.

5.3.1.2.2.4Example 4:

Write Index 0x6200 Sub-Index 1; First 8 bit digital output block

The output values of the digital output modules are saved in index 0x6100.

8 bits each are assigned to a group and can be read and written as from sub index 1. In this example, the value 0xFF is written into the outputs of the first 8 bit digital output group.

Direction	CAN Id	Frame Type
M->BK	0x601	D	0x2F 00 62 01 FF XX XX XX

BK->M	0x581	D		0x60 00 62 01 XX XX XX XX

Result:

The outputs of the first 8 bit digital output modules are set.

5.3.1.3 Synchronization Object - SYNC

These objects allow the synchronization of all network subscribers. Corresponding configuration of the PDOs can initiate the network subscribers to process their input data or to update the outputs upon the arrival of a SYNC object.

In this manner cyclical transmission of a SYNC object ensures that all network subscribers will process their process data simultaneously.

WAGO-I/O-SYSTEM 750

CANopen

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